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E-raamat: Control of Mechatronic Systems

(University of Paderborn, Germany), (Ohio State University, USA), (Istanbul Okan University, Department of Mechanical Engineering, Turkey), (Ohio State University, USA)
  • Formaat: EPUB+DRM
  • Sari: Control, Robotics and Sensors
  • Ilmumisaeg: 19-May-2017
  • Kirjastus: Institution of Engineering and Technology
  • Keel: eng
  • ISBN-13: 9781785611452
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Control of Mechatronic SystemsSuurem pilt
  • Formaat: EPUB+DRM
  • Sari: Control, Robotics and Sensors
  • Ilmumisaeg: 19-May-2017
  • Kirjastus: Institution of Engineering and Technology
  • Keel: eng
  • ISBN-13: 9781785611452
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This book introduces researchers and advanced students with a basic control systems background to an array of control techniques which they can easily implement and use to meet the required performance specifications for their mechatronic applications. It is the result of close to two decades of work of the authors on modeling, simulating and controlling different mechatronic systems from the motion control, automotive control and micro and nano-mechanical systems control areas. The methods presented in the book have all been tested by the authors and a very large group of researchers, who have produced practically implementable controllers with highly successful results.

The approach that is recommended in this book is to first start with a conventional control method which may then be cascaded with a feedforward controller if the input is known or can be measured with a preview; to add a disturbance observer if unknown disturbances are to be rejected and if regulation of the uncertain plant about a nominal model is desired; and to add a repetitive controller to take care of any periodic inputs of fixed and known period. Case studies ranging from road vehicle yaw stability control and automated path following, to decoupling control of piezotube actuators in an atomic force microscope are presented. Parameter space based methods are used in the book for achieving robust controllers.

Most of the design approaches presented in the book are coded in MATLAB®, compiled by the authors together in a GUI (Graphical User Interface) under the name COMES (Control of Mechatronic Systems toolbox), available in the user contributed material part of the Mathworks MATLAB® website for free download and use with this book.
Preface xi
About the authors xiii
Control of mechatronic systems software xv
1 Introduction
1(8)
1.1 Introduction and background
1(2)
1.2 Overall control architecture
3(1)
1.3 Overview of control methods
4(1)
1.4 Software
5(4)
References
6(3)
2 Parameter space based robust control methods
9(38)
2.1 Introduction
9(1)
2.2 Hurwitz stability
10(9)
2.3 D-stability
19(3)
2.4 Frequency domain control basics
22(10)
2.4.1 Mapping phase margin bounds to parameter space
23(3)
2.4.2 Mapping gain margin bounds to parameter space
26(1)
2.4.3 Mapping sensitivity bounds to parameter space
27(5)
2.5 Case study: automated path following
32(3)
2.6 Case study: Quanser QUBE™ Servo system
35(7)
2.7 Singular frequencies
42(5)
References
44(3)
3 Classical control
47(44)
3.1 Introduction to conventional control
47(1)
3.2 Phase lead compensation
48(12)
3.2.1 Characteristics of phase lead compensators
49(1)
3.2.2 Analytical phase lead compensator design in the frequency domain
50(6)
3.2.3 PD control as a special case of phase lead compensation
56(4)
3.3 Phase lag compensation
60(12)
3.3.1 Characteristics of phase lag compensators
60(2)
3.3.2 Analytical phase lag compensator design in the frequency domain
62(3)
3.3.3 PI control as a special case of phase lag control
65(7)
3.4 Phase lag-lead compensation
72(8)
3.4.1 PID control as a special case of phase lag-lead compensation
74(6)
3.5 Optimisation-based conventional controller design in MATLAB and Simulink
80(4)
3.6 Parameter space based robust conventional controller design
84(4)
3.6.1 Comparison of analytical approach and parameter space phase margin bound computations
84(1)
3.6.2 Case study of parameter space based conventional controller design
85(3)
3.7 Case study: Quanser QUBE™ Servo system
88(1)
3.8
Chapter summary and concluding remarks
89(2)
References
90(1)
4 Input shaping control
91(22)
4.1 Introduction to input shaping control
91(1)
4.2 Discrete-time MMP zeros
92(2)
4.3 Different feedforward controller designs
94(1)
4.4 Zero phase compensation
95(3)
4.5 Zero phase gain compensation
98(1)
4.6 Characterisation of complex non-minimum phase zeros
99(2)
4.7 Zero phase extended gain compensation
101(2)
4.8 Zero phase optimal gain compensation
103(5)
4.9 Truncated series approximation compensation
108(1)
4.10 Case study: electrohydraulic testing system
108(1)
4.11 Robustness analysis
109(1)
4.12
Chapter summary and concluding remarks
110(3)
References
110(3)
5 Disturbance observer control
113(38)
5.1 Introduction to disturbance observer control
113(1)
5.2 Continuous-time disturbance observer
113(5)
5.3 Case study: Quanser QUBE™ Servo system
118(4)
5.4 Mapping robust performance frequency domain specifications into disturbance observer parameter space
122(3)
5.5 Case study: SISO disturbance observer control for yaw stability control of a road vehicle
125(3)
5.6 Discrete-time disturbance observer
128(2)
5.7 MIMO decoupling extension of disturbance observer
130(4)
5.8 Case study: MIMO decoupling disturbance observer control for a four-wheel steering vehicle
134(5)
5.9 Case study: MIMO disturbance observer for decoupling the two axes of motion in a piezotube actuator used in an atomic force microscope
139(2)
5.10 Communication disturbance observer
141(4)
5.11 Case study: communication disturbance observer application to vehicle yaw stability control over CAN bus
145(3)
5.12
Chapter summary and concluding remarks
148(3)
References
148(3)
6 Repetitive control
151(40)
6.1 Introduction to repetitive control
151(2)
6.2 Stability analysis of repetitive control system
153(5)
6.2.1 Regeneration spectrum analysis
155(1)
6.2.2 Regeneration spectrum analysis applied to repetitive control
156(2)
6.3 Repetitive controller basics
158(6)
6.3.1 Internal model principle
158(2)
6.3.2 Periodic signal generator
160(1)
6.3.3 Time advance
161(1)
6.3.4 Low-pass filter q(s) and dynamic compensator b(s)
162(2)
6.4 Parameter space approach to repetitive control
164(4)
6.4.1 Mapping robust performance frequency domain specifications into controller parameter space
165(3)
6.5 Case study: high-speed atomic force microscope scanner position control
168(4)
6.6 Case study: Quanser QUBE™ Servo system
172(2)
6.7 COMES toolbox: repetitive control system design
174(1)
6.8 Discrete-time repetitive control
174(6)
6.8.1 Basic elements of discrete-time repetitive control
175(3)
6.8.2 Discrete-time repetitive control design procedure based on the parameter space approach
178(2)
6.9 Case study: high-speed atomic force microscope scanner position control
180(4)
6.10
Chapter summary and concluding remarks
184(7)
References
185(6)
7 Summary and conclusions
191(2)
7.1 Summary
191(1)
7.2 Conclusions
192(1)
Appendix A Rapid control prototyping and hardware-in-the-loop simulation 193(2)
Index 195
Levent Güvenç is a professor of mechanical and aerospace engineering at the Ohio State University, with a joint appointment at the electrical and computer engineering department, and conducts his research in the Automated Driving Lab in the Center for Automotive Research (CAR), USA.



Bilin Aksun Güvenç is a visiting professor in the Department of Mechanical and Aerospace Engineering and the Center for Automotive Research (CAR) and the Automated Driving Lab of the Ohio State University, USA.



Burak Demirel is a postdoctoral scholar at the Chair for Automatic Control (EIM-E) at the University of Paderborn.



Mümin Tolga Emirler is an assistant professor in the Department of Mechanical Engineering at Istanbul Okan University, Turkey.
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