scholarly journals Design and Realization of Distributed Real-Time Controllers for Mechatronic Systems

2002 ◽  
pp. 277-286
Author(s):  
M. Deppe ◽  
M. Zanella
Keyword(s):  
Real Time ◽  
Mechatronic Systems

scholarly journals Learning Feedforward Control Using Multiagent Control Approach for Motion Control Systems

Energies ◽  
2021 ◽  
Vol 14 (2) ◽  
pp. 420
Author(s):  
Phong B. Dao
Keyword(s):  
Real Time ◽  
Feedforward Control ◽  
Design Method ◽  
Mechatronic Systems ◽  
Control Approach ◽  
Runtime Environment ◽  
Multiagent Control ◽  
On Line ◽  
Promising Solution ◽  
Function Approximator

Multiagent control system (MACS) has become a promising solution for solving complex control problems. Using the advantages of MACS-based design approaches, a novel solution for advanced control of mechatronic systems has been developed in this paper. The study has aimed at integrating learning control into MACS. Specifically, learning feedforward control (LFFC) is implemented as a pattern for incorporation in MACS. The major novelty of this work is that the feedback control part is realized in a real-time periodic MACS, while the LFFC algorithm is done on-line, asynchronously, and in a separate non-real-time aperiodic MACS. As a result, a MACS-based LFFC design method has been developed. A second-order B-spline neural network (BSN) is used as a function approximator for LFFC whose input-output mapping can be adapted during control and is intended to become equal to the inverse model of the plant. To provide real-time features for the MACS-based LFFC system, the open robot control software (OROCOS) has been employed as development and runtime environment. A case study using a simulated linear motor in the presence of nonlinear cogging and friction force as well as mass variations is used to illustrate the proposed method. A MACS-based LFFC system has been designed and implemented for the simulated plant. The system consists of a setpoint generator, a feedback controller, and a time-index LFFC that can learn on-line. Simulation results have demonstrated the applicability of the design method.

scholarly journals Adaptive Balancing of Robots and Mechatronic Systems

2018 ◽  
Author(s):  
Liviu Ciupitu
Keyword(s):  
Exact Solutions ◽  
Real Time ◽  
Solid Mechanics ◽  
Vertical Plane ◽  
Approximate Solutions ◽  
Real Time Control ◽  
Mechatronic Systems ◽  
Static Loads ◽  
Time Control ◽  
Romanian Academy

Present paper is dealing with the adaptive static balancing of robot or other mechatronic arms that are moving in vertical plane and whose static loads are variable, by using counterweights and springs. Some simple passive and approximate solutions are proposed and an example is shown. The active and exact solutions by using adaptive real time control in the case of unknown variation of static loads are simulated on VIPRO platform developed at Institute of Solid Mechanics of Romanian Academy.

Real Time Simulation for High Fidelity Multibody Dynamics and Mechatronic Systems

2014 ◽  
Author(s):  
William Prescott
Keyword(s):  
Real Time ◽  
Multibody Dynamics ◽  
Large Scale ◽  
State Of The Art ◽  
High Fidelity ◽  
Implicit Integration ◽  
Mechatronic Systems ◽  
Vehicle Simulation ◽  
Current State ◽  
Time Simulation

This paper will investigate the use of large scale multibody dynamics (MBD) models for real-time vehicle simulation. Current state of the art in the real-time solution of vehicle uses 15 degree of freedom models, but there is a need for higher-fidelity systems. To increase the fidelity of models uses this paper will propose the use of the following techniques: implicit integration, parallel processing and co-simulation in a real-time environment.

scholarly journals A Contribution for Virtual Prototyping of Mechatronic Systems Based on Real-Time Distributed High Level Architecture

2011 ◽  
Vol 12 (1) ◽  
Author(s):  
H. J. Hadj-Amor ◽  
T. Soriano
Keyword(s):  
Real Time ◽  
Geometric Model ◽  
Virtual Prototyping ◽  
Rapid Evolution ◽  
Behavior Model ◽  
Hybrid Automata ◽  
Mechatronic Systems ◽  
Work Related ◽  
And Performance ◽  
High Level

Mechatronics is the integration of different sciences and techniques of mechanical engineering, automatic control, electronics, and informatics. The rapid evolution of the market competitors requires the reduction of development time of a product while increasing the quality and performance. It is, therefore, necessary to increase the efficiency of the design process. To meet this need, simulation and, especially, virtual prototyping have become a key technology. It is difficult to find simulation tools are able to analyze multidependent systems of different areas. However, an environment that allows a simulation integrating multidisciplinary mechatronic systems is necessary. This paper describes a method of design and simulation of mechatronic systems. First, we identify the behavior model and its associated 3D geometric model. The behavior model is seen as a dynamic hybrid system of two coupled hybrid automata (operative part and control part). Then, we present OpenMASK and OpenModelica simulators, the IEEE1516 standard HLA and work related to this distributed architecture for simulation. In a top-down approach, we present our method and experiments to integrate HLA functionalities in these simulators and to distribute the modeling elements of mechatronic systems. Also, we propose extensions to integrate real-time for interactive simulations. Finally, we apply our approach on a representative example of a mechatronic system.

Tool Support for Developing Advanced Mechatronic Systems: Integrating the Fujaba Real-Time Tool Suite with CAMeL-View

2007 ◽  
Author(s):  
Sven Burmester ◽  
Holger Giese ◽  
Stefan Henkler ◽  
Martin Hirsch ◽  
Matthias Tichy ◽  
...  
Keyword(s):  
Real Time ◽  
Tool Support ◽  
Mechatronic Systems

Technical and Software Equipment for the Real Time Positioning Control System in Mechatronic Systems with Pneumatic Artificial Muscles

2015 ◽  
Vol 669 ◽  
pp. 361-369 ◽  
Author(s):  
Miroslav Rimár ◽  
Peter Šmeringai ◽  
Marcel Fedák ◽  
Štefan Kuna
Keyword(s):  
Control System ◽  
Real Time ◽  
Artificial Muscles ◽  
Experimental Measurements ◽  
Real Time Control ◽  
Mechatronic Systems ◽  
Positioning Control ◽  
The Real ◽  
Time Control ◽  
Pneumatic Artificial Muscles

This paper explains the design of real-time control system for control of drives containing the artificial muscles. Described is the design of devices hardware and software, as well as design of their involvement in the experimental device. In this paper are referred experimental measurements on the device, aimed at monitoring the change in observed characteristics caused by position changes in artificial muscles during their operation.

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