Patrick O. J. Kaltjob - Control of Mechatronic Systems

366 357

367 358

368 359

369 360

370 361

371 362

372 363

373 364

374 365

375 366

376 367

377 368

378 369

379 370

380 371

381 372

382 373

383 374

384 375

385 376

386 377

387 378

388 379

389 380

390 381

391 382

392 383

393 384

394 385

395 386

396 387

397 388

398 389

399 390

400 391

401 392

402 393

403 394

404 395

405 396

406 397

407 398

408 399

409 400

410 401

411 402

412 403

413 404

414 405

415 406

416 407

417 408

418 409

419 410

420 411

421 412

422 413

423 414

424 415

425 416

426 417

427 418

428 419

429 420

430 421

431 422

432 423

433 424

434 425

435 426

436 427

437 428

438 429

439 430

440 431

441 432

442 433

443 434

444 435

445 436

446 437

447 438

448 439

449 440

450 441

451 442

452 443

453 444

454 445

455 447

456 448

457 449

458 450

459 451

460 452

461 453

462 455

463 456

464 457

465 458

466 459

467 460

468 461

469 463

470 464

471 465

472 466

473 467

474 469

475 470

476 471

477 472

Vice President and Editorial Director: Amanda L. Miller

Acquisitions Editors: Eric Willner and Anne Hunt

Editorial Assistant: Anne Hunt

Editorial Supervision and Production: Rosie Hayden

Production Manager: Amudhapriya Sivamurthy

Cover Manager: Hannah Lee

Marketing Manager: Sarah Brett

Patrick O.J. Kaltjob

Ecole Nationale Superieure Polytechnique

Yaounde, Cameroun

This edition first published 2019

© 2019 John Wiley & Sons Ltd

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording or otherwise, except as permitted by law. Advice on how to obtain permission to reuse material from this titleis available at http://www.wiley.com/go/permissions.

The right of Patrick O J Kaltjob to be identified as the author of this work has beenasserted in accordance with law.

Registered Office(s)

John Wiley & Sons, Inc., 111 River Street, Hoboken, NJ 07030, USA

John Wiley & Sons Ltd, The Atrium, Southern Gate, Chichester, West Sussex, PO19 8SQ, UK

Editorial Office

The Atrium, Southern Gate, Chichester, West Sussex, PO19 8SQ, UK

For details of our global editorial offices, customer services, and more information about Wiley products visit us at www.wiley.com.

Wiley also publishes its books in a variety of electronic formats and by print-on-demand. Some content that appears in standard print versions of this book may not be available in other formats.

Limit of Liability/Disclaimer of Warranty

MATLAB ®is a trademark of The MathWorks, Inc. and is used with permission. The MathWorks does not warrant the accuracy of the text or exercises in this book. This work’s use or discussion of MATLAB software or related products does not constitute endorsement or sponsorship by The MathWorks of a particular pedagogical approach or particular use of the MATLAB software. While the publisher and authors have used their best efforts in preparing this work, they make no representations or warranties with respect to the accuracy or completeness of the contents of this work and specifically disclaim all warranties, including without limitation any implied warranties of merchantability or fitness for a particular purpose. No warranty may be created or extended by sales representatives, written sales materials or promotional statements for this work. The fact that an organization, website, or product is referred to in this work as a citation and/or potential source of further information does not mean that the publisher and authors endorse the information or services the organization, website, or product may provide or recommendations it may make. This work is sold with the understanding that the publisher is not engaged in rendering professional services. The advice and strategies contained herein may not be suitable for your situation. You should consult with a specialist where appropriate. Further, readers should be aware that websites listed in this work may have changed or disappeared between when this work was written and when it is read. Neither the publisher nor authors shall be liable for any loss of profit or any other commercial damages, including but not limited to special, incidental, consequential, or other damages.

Library of Congress Cataloging-in-Publication Data

Names: Kaltjob, Patrick O. J., author.

Title: Control of mechatronic systems : model-driven design and implementation guidelines / Patrick O. J. Kaltjob.

Description: Hoboken, NJ : John Wiley & Sons, 2020. | Includes bibliographical references and index.

Identifiers: LCCN 2018051541 (print) | LCCN 2019022413 (ebook) | ISBN 9781119505808 (hardcover)

Subjects: LCSH: Mechatronics. | Manufacturing processes.

Classification: LCC TJ163.12 .K34 2019 (print) | LCC TJ163.12 (ebook) | DDC 621–dc23

LC record available at https://lccn.loc.gov/2018051541

LC ebook record available at https://lccn.loc.gov/2019022413

Cover design by Wiley

Cover image: © Menno van Dijk/ iStock.com

To the Holy Trinity and Saint Mary

Special thanks to Stella, Emmanuelle, Naomi, Lukà and David

To Aaron, Thomas, Olive and Anne

The control of mechatronic systems and electrical-driven processes aims to provide tools to ensure their operating performance in terms of productivity, optimization, reliability, safety, continuous operations and even stability. This is usually achieved through hybrid control paradigms using digital or analog tools. Nowadays, digital tools are widely considered to implement control systems as they offer numerous advantages including their ability: (i) to ease the control system implementation; (ii) to design complex and built-in intelligent information processing combining multiple functions for control, fault detection and diagnostic, monitoring and planning decisions; (iii) to integrate logic and continuous control algorithms as well as supervision programs into hybrid control strategies; (iv) to enhance the synchronization of input and output process operations; (v) to coordinate control actions among geographically distributed systems and processes and (iv) to achieve reliable and optimal operating conditions.

The digital control system architecture usually consists of the integration of the following functional units: a data processing and computing unit, an electrical-driven actuating unit, a measuring and detecting unit, a data acquisition (DAQ) and transmitting unit and a signal conditioning unit. The data processing and computing unit can be implemented through devices such as microcontroller (μC), programmable logic controller (PLC) with a control function, digital signal processing (DSP)a and a field-programmable gate array (FPGA).

The design of efficient control systems requires the mathematical modeling of mechatronic systems and process dynamics. This can be achieved in accordance with the operating characteristics (discrete and continuous) and objectives as well as technological constraints of the related instrumentation (signal conversion, transmission, conditioning, measurement, actuation etc.). However, in most of the current engineering literature on the design of digital control systems, the mathematical foundation of discrete time and discrete event systems is usually presented separately from the technological constraints of control instrumentation. For example, the operating time delay models or signal to noise ratio from digital device interfaces are not usually considered. Hence, the theoretical control algorithms proposed have limited practical applicability.