Patrick O. J. Kaltjob - Control of Mechatronic Systems

1 Cover

2 Title Page Control of Mechatronic Systems Model-Driven Design and Implementation Guidelines Patrick O.J. Kaltjob Ecole Nationale Superieure Polytechnique Yaounde, Cameroun

3 Copyright

4 Dedication

5 Preface

6 Acknowledgment

7 About the Companion Website

8 1 Introduction to the Control of Mechatronic Systems1.1 Introduction 1.2 Description of Mechatronic Systems 1.3 Generic Controlled Mechatronic System and Instrumentation Components 1.4 Functions and Examples of Controlled Mechatronic Systems and Processes 1.5 Controller Design Integration Steps and Implementation Strategies Bibliography

9 2 Physics-Based Systems and Processes: Dynamics Modeling2.1 Introduction 2.2 Generic Dynamic Modeling Methodology 2.3 Transportation Systems and Processes 2.4 Biomedical Systems and Processes 2.5 Fluidic and Thermal Systems and Processes 2.6 Chemical Processes 2.7 Production Systems and Processes Bibliography

10 3 Discrete-Time Modeling and Conversion Methods3.1 Introduction 3.2 Digital Signal Processing Preliminaries 3.3 Signal Conditioning 3.4 Signal Conversion Technology 3.5 Data Logging and Processing 3.6 Computer Interface and Data Sampling Issues Bibliography

11 4 Discrete-Time Analysis Methods4.1 Introduction 4.2 Analysis Tools of Discrete-Time Systems and Processes 4.3 Discrete-Time Controller Specifications 4.4 Discrete-Time Steady-State Error Analysis 4.5 Stability Test for Discrete-Time Systems 4.6 Performance Indices and System Dynamical Analysis Bibliography

12 5 Continuous Digital Controller Design5.1 Introduction 5.2 Design of Control Algorithms for Continuous Systems and Processes 5.3 Modern Control Topologies 5.4 Induction Motor Controller Design Bibliography

13 6 Boolean-Based Modeling and Logic Controller Design6.1 Introduction 6.2 Generic Boolean-Based Modeling Methodology 6.3 Production Systems 6.4 Biomedical Systems 6.5 Transportation Systems 6.6 Fail-Safe Design and Interlock Issues Bibliography

14 7 Hybrid Controller Design7.1 Introduction 7.2 Requirements for Monitoring and Control of Hybrid Systems 7.3 Design Methodology for Monitoring and Control Systems 7.4 Examples of Hybrid Control and Case Studies Bibliography

15 8 Mechatronics Instrumentation: Actuators and Sensors8.1 Introduction 8.2 Actuators in Mechatronics 8.3 Electromechanical Actuating Systems 8.4 Electro-Fluidic Actuating Systems 8.5 Electrothermal Actuating Systems 8.6 Sensors in Mechatronics Bibliography

16 A Stochastic Modeling A.1 Discrete Process Model State-Space Form A.2 Auto-Regressive Model with an eXogenous Input: ARX Model Structure A.3 The Auto-Regressive Model – AR Model Structure A.4 The Moving Average Model – MA Model Structure A.5 The Auto-Regressive Moving Average Model – ARMA Model Structure A.6 The Auto-Regressive Moving Average with eXogenous Input Model – ARMAX Model Structure A.7 Selection of Model Order and Delay A.8 Parameter Estimation Methods A.9 LS Estimation Methods A.10 RLS Estimation Methods A.11 Model Validation A.12 Prediction Error Analysis Methods A.13 Estimation of Confidence Intervals for Parameters A.14 Checking for I/O Consistency for Different Models

17 B Step Response Modeling

18 C Z-Transform Tables

19 D Boolean Algebra, Bus Drivers, and Logic Gates D.1 Some Logic Gates, Flip-Flops, and Drivers D.2 Other Logic Devices: Drivers and Bus Drivers D.3 Gated Latch D.4 D-Type (Delay-Flip-Flop) D.5 Register or Buffer D.6 Adder

20 E Solid-State Devices and Power Electronics E.1 Power Diodes E.2 Diode–Transistor Logic (DTL) E.3 Power Transistors E.4 Resistor–Transistor Logic (RTL) E.5 Transistor–Transistor Logic (TTL) E.6 Metal Oxide Semiconductor FET (MOSFET) E.7 Thyristors

21 Index

22 End User License Agreement

1 Chapter 1 Table 1.1 Functions and implementation strategies for controlling mechatronic...

2 Chapter 2 Table 2.1 Generic dynamic modeling procedure of system or process operations. Table 2.2 Crane gantry system parameters and variables. Table 2.3 Gantry cranes speed and acceleration operating conditions. Table 2.4 Some elevator system parameters and model variables. Table 2.5 HEV system parameters and model variables. Table 2.6 Some key variables and parameters for the car longitudinal dynamics... Table 2.7 Some Segway system variables and parameters. Table 2.8 Some parameters and variables of infant incubator system. Table 2.9 Some key parameters and variables of glucose and insulin metabolism... Table 2.10 Typical patient information.Table 2.11 Patient data.Table 2.12 Model parameter estimates.Table 2.13 Mixing tank process variables and parameters.Table 2.14 Water treatment process variables and parameters.Table 2.15 Conveyor oven system parameters and variables.Table 2.16 Some key parameters and variables of the poultry processing system...Table 2.17 Some key variables and parameters of the distillation process.Table 2.18 Average crude oil fractioning temperature.Table 2.19 Some key parameters and variables of the fermentation process.Table 2.20 Fermentation temperature profile.Table 2.21 Some key variables and parameters of the drilling machine.Table 2.22 Some keys variables and parameters for the translation and scrapin...Table 2.23 Some key parameters and variables of the wind turbine generator sy...Table 2.24 Variables and parameters of the elevator driven by a permanent mag...Table 2.25 Some key variables and parameters of the crude oil preheating proc...Table 2.26 Solar heating process variables and parameters.Table 2.27 Typical robot handling system parameters and variables.Table 2.28 Typical operating conditions of a solar-based heating process.

3 Chapter 3Table 3.1 Examples of signals equivalence between continuous and discrete dom...Table 3.2 Table of equivalence based on numerical approximation techniques.Table 3.3 DC motor speed values for different times.Table 3.4 General steps for developing discrete-time model of linear time inv...Table 3.5 Some key variables and parameters values of DC motor.Table 3.6 Table of parameters used to build various process command input seq...Table 3.7 Types of transducers and associated signal-conditioning functions r...Table 3.8 Logic level signals of I/O data bus.Table 3.9 Sampled response in z -transform for a first-order process.

4 Chapter 4Table 4.1 Generic rules for manually sketching the root locus in the z -plane....Table 4.2 Frequency response data.Table 4.3 Derived frequency response data.Table 4.4 Error constants and steady-state errors for various system types an...Table 4.5 Stability conditions and corresponding root values.

5 Chapter 5Table 5.1 Table of discrete values of input-output at different sample period...Table 5.2 Effects of PID controller components on process dynamics characteri...Table 5.3 Derived sequence values.Table 5.4 Sequence values of system with input feedforward.Table 5.5 Sequence values of system with adjusted input feedforward.Table 5.6 Typical recorded motion data of a multi-axis robot.Table 5.7 Some motor drives and their corresponding electric motors.Table 5.8 PID compensation effects on system response characteristics.Table 5.9 DC motor parameters.Table 5.10 Some key parameters and variables of a blood treatment system.Table 5.11 Sequence values for the PD-based width cutting control of lathe ma...Table 5.12 With A = 0.0001111 2steps per addsTable 5.13 Velocity and position profiles data

6 Chapter 6Table 6.1 Step-by-step logic controller design methodology.Table 6.2 Module component from FT using SADT method.Table 6.3 Truth table for three inputs and one output.Table 6.4 Corresponding K-map for three inputs.Table 6.5 State table based on a Mealy machine.Table 6.6 Truth table of a starter motor.Table 6.7 State transition table of a starter motor.Table 6.8 K-maps of starter motor.Table 6.9 State table based on the Mealy machine.Table 6.10 State table based on the Moore machine.Table 6.11 Equipment involved in the cement pozzolana scratching process.Table 6.12 Sequence table for the cement pozzolana scratching process.Table 6.13 Equipment involved in the biopsy operation process.Table 6.14 Sequence table analysis for the drilling machine process using the...Table 6.15 Equipment involved in a toxic liquid treatment tank.Table 6.16 Sequence table analysis for a toxic liquid treatment tank.Table 6.17 Laser surgery process state transition table.Table 6.18 Corresponding K-maps of the laser surgery process.Table 6.19 Laser surgery process state transition table.Table 6.20 Corresponding K-maps.Table 6.21 Equipment involved in a three-floor elevator system.Table 6.22 Sequence table analysis of a two-floor elevator system using switc...Table 6.23 Listing of input and output devices involved in an automated fruit...Table 6.24 Binary coding of input transition conditions and fruit-picker syst...Table 6.25