Integrated Structural and Controller Optimization in Dynamic Mechatronic Systems

2010 ◽  
Vol 132 (4) ◽  
Author(s):  
Albert Albers ◽  
Jens Ottnad
Keyword(s):  
Control System ◽  
Research Work ◽  
Humanoid Robots ◽  
Optimization Process ◽  
Research Centre ◽  
System Control ◽  
Mechatronic System ◽  
Mechatronic Systems ◽  
Control Engineering ◽  
Optimization Loop

In order to take into account the interaction between the part, dynamic system, control system, and changing mechanical behavior with all its consequences for the optimization process, a simulation of the complete mechatronic system is integrated into the optimization process within the research work presented in this paper. A hybrid multibody system (MBS) simulation, that is a MBS containing flexible bodies, in conjunction with a cosimulation of the control system represented by tools of the computer aided control engineering, is integrated into the optimization process. By an inner optimization loop the controller parameters are adopted new in each of the iterations of the topology optimization in order to provide realistic load cases. The benefits will be illustrated by an example in conjunction with the humanoid robot ARMAR III of the Collaborative Research Centre 588 “Humanoid Robots-Learning and Cooperating Multimodal Robots” in Karlsruhe Germany. It will be shown how the new approach for the optimization of parts “within” their surrounding mechatronic system allows an efficient optimization of such structures.

Topology Optimization of Multiple Parts in Dynamic Controlled Systems

2008 ◽  
Author(s):  
Albert Albers ◽  
Jens Ottnad ◽  
Pascal Ha¨ußler ◽  
Johannes Minx
Keyword(s):  
Control System ◽  
Structural Optimization ◽  
Dynamic Properties ◽  
Continuous Process ◽  
Research Work ◽  
Humanoid Robots ◽  
Optimization Process ◽  
Research Centre ◽  
Mechatronic System ◽  
Computer Aided

The importance of computer aided engineering (CAE) in product development processes and research has been increasing throughout the past years. Consequently, optimization tools gained more and more importance. In state-of-the-art processes and methods concerning structural optimization it is assumed that there exists a set of external loads or load functions acting on the part. Very often modern products represent complex mechatronic system. The fact that the system’s dynamic properties and its overall behaviour may change due to geometric modifications of a part caused by an optimization process is typically neglected. In order to take into account the interaction between the part, dynamic system, control system and the changing mechanical behaviour with all its consequences for the optimization process, a simulation of the complete mechatronic system is integrated into the optimization process within the research work presented in this paper. A hybrid multibody system (MBS) simulation, that is, a MBS containing flexible bodies, in conjunction with a cosimulation of the control system represented by tools of the Computer Aided Control Engineering (CACE) is integrated into the optimization process. The research work presented in this paper is a contribution towards the integration of existing CAE methods into a continuous process for structural optimization. The benefits will be illustrated by an example, namely a part of the humanoid robot ARMAR III of the collaborative research centre for “Humanoid Robots” [1]. Especially the optimization of two parts at a time within one optimization loop allows an efficient optimization of structures “within” their surrounding mechatronic system.

Structural Optimization of Components in Controlled Mechanical Systems

2007 ◽  
Author(s):  
Albert Albers ◽  
Jens Ottnad ◽  
Pascal Ha¨ußler ◽  
Johannes Minx
Keyword(s):  
Control System ◽  
Topology Optimization ◽  
Product Development ◽  
Structural Optimization ◽  
Continuous Process ◽  
Research Work ◽  
Mechanical Systems ◽  
Optimization Process ◽  
Research Centre ◽  
Mechatronic System

The importance of computer aided engineering in product development processes and research has been increasing rapidly throughout the past years. Today’s software can e.g. help to optimize complex components regarding different objectives or conditions. The capability of these tools has been proved in many industrial applications. They are used in order to improve the products on the one hand and to reduce the development time, and therefore, the costs of the product development on the other hand. New studies in the field of structural optimization concentrate on dynamically loaded parts in mechanical systems. In the state-of-the-art process and methods it is assumed that there exists a set of external loads or load functions acting on the part. The fact that due to geometric modifications caused by an optimization process, changes of the system’s dynamic properties and its overall behaviour may be neglected. In order to take into account the interaction between part and system with all its consequences for the optimization process, a simulation of the complete system is integrated into the optimization process within the research work presented in this paper. Dynamic systems today very often are controlled. The control has a major influence on the dynamic characteristics of the system. Therefore the target is to take into account the aspects of the control system as well during a topology optimization process of the mechanical part in a mechatronic system. Here, a hybrid multibody system simulation, that is, a MBS containing flexible bodies, in conjunction with a Co-Simulation of the control system is integrated into the optimization process. A humanoid robot is an example for such a complex mechatronic system. The goal of the collaborative research centre 588 “learning and cooperating multimodal robots” at the University of Karlsruhe (TH) is the development of robots that can help the human fulfilling everyday tasks in a human environment. The research work presented in this paper is a contribution towards the integration of existing isolated methods into a continuous process. The benefits will be illustrated by an example. The focus is set on the design of the mechanical parts in conjunction with an automatic parameter adaption (optimization) of the control system. Finite element analysis, multibody simulation, control design tools, parameter optimization and topology optimization are tied together into one process to allow an efficient optimization of structures “within” their surrounding mechatronic system.

scholarly journals Interview Study on the Agile Development of Mechatronic Systems

2019 ◽  
Vol 1 (1) ◽  
pp. 2287-2296 ◽  
Author(s):  
Kristin Goevert ◽  
Jonas Heimicke ◽  
Udo Lindemann ◽  
Albert Albers
Keyword(s):  
System Development ◽  
Research Work ◽  
Interview Study ◽  
Agile Development ◽  
Mechatronic System ◽  
Mechatronic Systems ◽  
Development Processes ◽  
Product And Process Knowledge ◽  
Product And Process ◽  
Development Practice

AbstractIn order to be as responsive as possible to changes in the dynamic context of mechatronic system development, companies are increasingly integrating agile approaches into their development processes. They are confronted with the challenges of adapting approaches that originate in software development to the conditions of physical development, without neglecting the experiences gained over many years regarding product and process knowledge. In addition, agile development approaches must be integrated into existing processes through a systematic implementation strategy. In order to gain an initial understanding of the current situation in mechatronic companies with regard to agile development approaches, an interview study was conducted with 18 participants from real development practice. This could show that the companies in mechatronic system development are currently at the beginning of agile transformation and need approaches that are modelled on the basis of real development projects and are best possible tailored to the needs of these companies through a clear technical orientation. The findings gained are not universally valid, but represent a basis for further research work.

scholarly journals An object-oriented design method to implement the mechatronic system control by using hybrid automata and real-time UML

2011 ◽  
Vol 33 (3) ◽  
pp. 182-193
Author(s):  
Vu Duy Quang ◽  
Ngo Van Hien
Keyword(s):  
Real Time ◽  
Design Method ◽  
System Development ◽  
Unified Modeling Language ◽  
System Control ◽  
Hybrid Automata ◽  
Mechatronic System ◽  
Mechatronic Systems ◽  
Analysis And Design ◽  
Object Oriented Design

In this paper, we present a method, which is based on hybrid automata and Real-Time Unified Modeling Language (UML) to analyze and design the control parts of mechatronic systems with input or output events and signals in order to effectively gather their structure and behaviour. We introduce step-by-step analysis and design activities of a controlled mechatronic system such as the specification of its hybrid automaton and realization hypotheses, the identification of object collaborations of this system, the identification of main control capsules, their ports and communication protocols, with their static and dynamic links. These activities are conducted by specializing the iterative life cycle of system development. Then, we indicate important hypotheses, which allow all the identified capsules of this system to make their evolutions. We apply this method to develop an Electro-Hydraulic Governor (EHG) system, which allows the frequency of an electro-hydraulic station to be stabilized.

Research on a Motion Law Surveying Aparatus of a Cam Follower

2016 ◽  
Vol 693 ◽  
pp. 1758-1764 ◽  
Author(s):  
Meng Ying Liu ◽  
Jian Jun Sun ◽  
Wei Zhao ◽  
Ting Ting Zhang ◽  
Zhi Wei Liu
Keyword(s):  
Control System ◽  
Data Acquisition ◽  
Research Work ◽  
Scientific Research ◽  
Data Acquisition System ◽  
System Control ◽  
Displacement Curve ◽  
Technical Data ◽  
Scientific Research Work ◽  
Cam Follower

An apparatus is developed in this paper, which surveys the motion law of the CAM follower. The apparatus is comprised of the frame body, motors, transmission system, execution system, control system and data acquisition system. The displacement curve, speed curve and acceleration curve of CAM are drawn by analyzing the signal from the dial indicators. This apparatus can provide technical data for the mechanical principle course as well as scientific research work.

Correction of Characteristics of Transverse Vibration Subsystems of Complex Mechanical or/and Mechatronic Systems

2016 ◽  
Vol 251 ◽  
pp. 188-193
Author(s):  
Andrzej Buchacz
Keyword(s):  
Cross Section ◽  
Research Centre ◽  
Mechatronic System ◽  
Main Subject ◽  
Mechatronic Systems ◽  
Approximate Methods ◽  
Dynamical Characteristics ◽  
Resonance Frequencies ◽  
Mechanical Subsystem ◽  
Exact And Approximate Methods

In this paper the application of analysis within transverse vibrating subsystem of complex or/and mechatronic systems by means of the exact and approximate methods were the main purposes of work. The second purpose - of the work was to solve the task of assignment of frequency-modal analysis within characteristics of mechatronic system. Classical and unclassical methods to solve this problem have been used to obtain the dynamical characteristics in the Gliwice research Centre. During the analysis of the diagrams of characteristics of confirmed system it has been determined that in case of approximate method the resonance frequencies cover with those which have been determined with exact method. However, the values of the characteristic in other areas are different. The main aim of this paper was to compare the transients of characteristics of mechanical subsystem within the transverse vibrating discrete – continuous mechatronic system, obtained by exact and approximate, that means Galerkins method and to answer to the question – if the method can be used to nominate the characteristics of mechatronic systems. The main subject of deliberation was to determine the flexibility of the mechanical system with constant cross section using the exact and Galerkin’s method. The problems presented in this paper, such as the analysis of subsystem of mechatronic and mechanical complex systems is however the introduction to the synthesis of transverse vibrating mechatronic systems with assumed frequency spectrum.

DESIGN, SIMULATION AND IMPLEMENTATION MONITORING SYSTEM FOR SYSTEM CONTROL C4 FEEDING PUMP FOR FEED VAPORIZATION IN THE BUTADIENE PLANT

2020 ◽  
Vol 1 (1) ◽  
pp. 31-35
Author(s):  
Fahmi Yunistyawan ◽  
Yunistyawan J Berchmans ◽  
Gembong Baskoro
Keyword(s):  
Motor Control ◽  
Control System ◽  
Field Operator ◽  
System Control ◽  
Variable Speed ◽  
Variable Speed Drive ◽  
Software And Hardware ◽  
Discharge Pressure ◽  
Selection Of

This study implements the auto start control system on an electric motor 3 phase C4Feeding pump when the discharge pressure is low-low (4.3 kg /cm²). The C4 feeding pumpmotor was initially manually operated from the local control station, this was very ineffectiveand inefficient because it still relied on the field operator to operate the pump motor and whenthe plant was in normal operating it is very risk if the field operator late to operate motor then itwill impact to quality of the product, and if the delay time to operate motor is too long then planthave to shut down, therefore improvement is needed in the C4 feeding pump motor controlsystem. In this paper, various types of 3-phase motor control are explained which allow it to beapplied to the C4 feeding pump motor that are on-off, inverter, and variable speed drive andefficient selection of the three systems control of the motor. Software and hardware used in thisthesis work are DCS CENTUM VP Yokogawa.

scholarly journals A real-time HIL control system on rotary inverted pendulum hardware platform based on double deep Q-network

2021 ◽  
Vol 54 (3-4) ◽  
pp. 417-428
Author(s):  
Yanyan Dai ◽  
KiDong Lee ◽  
SukGyu Lee
Keyword(s):  
Control System ◽  
Reinforcement Learning ◽  
Inverted Pendulum ◽  
Learning Algorithm ◽  
Deep Understanding ◽  
Control Engineering ◽  
Experience Replay ◽  
Real Hardware ◽  
Rotary Inverted Pendulum ◽  
Reinforcement Learning Algorithm

For real applications, rotary inverted pendulum systems have been known as the basic model in nonlinear control systems. If researchers have no deep understanding of control, it is difficult to control a rotary inverted pendulum platform using classic control engineering models, as shown in section 2.1. Therefore, without classic control theory, this paper controls the platform by training and testing reinforcement learning algorithm. Many recent achievements in reinforcement learning (RL) have become possible, but there is a lack of research to quickly test high-frequency RL algorithms using real hardware environment. In this paper, we propose a real-time Hardware-in-the-loop (HIL) control system to train and test the deep reinforcement learning algorithm from simulation to real hardware implementation. The Double Deep Q-Network (DDQN) with prioritized experience replay reinforcement learning algorithm, without a deep understanding of classical control engineering, is used to implement the agent. For the real experiment, to swing up the rotary inverted pendulum and make the pendulum smoothly move, we define 21 actions to swing up and balance the pendulum. Comparing Deep Q-Network (DQN), the DDQN with prioritized experience replay algorithm removes the overestimate of Q value and decreases the training time. Finally, this paper shows the experiment results with comparisons of classic control theory and different reinforcement learning algorithms.

Dynamic Characteristics of a Piezoelectric Transducer with Structural Damping

2013 ◽  
Vol 198 ◽  
pp. 633-638 ◽  
Author(s):  
Marek Płaczek
Keyword(s):  
Piezoelectric Transducer ◽  
Piezoelectric Materials ◽  
Research Centre ◽  
Structural Damping ◽  
Mechatronic Systems ◽  
Mathematical Algorithm ◽  
Analysis And Synthesis ◽  
The Matrix ◽  
Piezoelectric Stacks ◽  
Future Work

Work presents a proposal of an analysis method of the piezoelectric transducer. The considered system is a longitudinally vibrating single PZT plate. The main aim of this work is to designate characteristics of the considered PZT plate. Using constitutive equations of piezoelectric materials and an equation of the plates motion a matrix of characteristics of the system was obtained. Relations between mechanical and electrical parameters (forces, displacements, electric current and voltage) that describe behaviour of the system are included in the matrix of characteristics. A dynamic flexibility relation between the plates deformation and a force applied to the system is considered. A structural damping of the plates material was being taken into consideration and its influence on the plates dynamic flexibility is analysed. This work is an introduction to a task of analysis of complex systems. In future work the developed model and proposed mathematical algorithm will be used to analyse piezoelectric stacks. Non-classical methods will be used. It is a part of research works of Gliwice research centre related with an analysis and synthesis of mechanical and mechatronic systems [4-7,9,10,16-18]. Passive and active mechanical and mechatronic systems with piezoelectric transducers were analysed [1-3]. Works were also supported by computer-aided methods [8]. Both classical and non-classical methods were being considered. The discussed subject is important due to increasing number of applications of both simple and reverse piezoelectric phenomena in various modern technical devices.

scholarly journals Energy Modeling and Power Measurement for Mobile Robots

Energies ◽  
2018 ◽  
Vol 12 (1) ◽  
pp. 27 ◽  
Author(s):  
Linfei Hou ◽  
Liang Zhang ◽  
Jongwon Kim
Keyword(s):  
Control System ◽  
Energy Consumption ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Electrical Power ◽  
Energy Model ◽  
Energy Modeling ◽  
Power Measurement ◽  
Sensor System ◽  
System Control

To improve the energy efficiency of a mobile robot, a novel energy modeling method for mobile robots is proposed in this paper. The robot can calculate and predict energy consumption through the energy model, which provides a guide to facilitate energy-efficient strategies. The energy consumption of the mobile robot is first modeled by considering three major factors: the sensor system, control system, and motion system. The relationship between the three systems is elaborated by formulas. Then, the model is utilized and experimentally tested in a four-wheeled Mecanum mobile robot. Furthermore, the power measurement methods are discussed. The energy consumption of the sensor system and control system was at the milliwatt level, and a Monsoon power monitor was used to accurately measure the electrical power of the systems. The experimental results showed that the proposed energy model can be used to predict the energy consumption of the robot movement processes in addition to being able to efficiently support the analysis of the energy consumption characteristics of mobile robots.

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