Advanced Mechatronics

The following sections are included:

• Preface

• Contents

The following sections are included:

• Advanced Mechatronics Systems
  • Monitoring and Control of Distributed Parameters Systems

• Signals versus Power Transmission. Lumped Parameters Modeling of Mechatronic Systems
  • Effort Flow Variables and Two Port Models
  • Newton-Euler and Kirchhoff Equations for a Mixed Electro-Mechanical System
  • Lagrange Equations for a Mixed Electro-Mechanical System

• Local Sensing and Actuation in Spatially Continuous Systems
  • Lumped Parameters Models with Under-Actuation and Under-Sensing
  • Distributed Parameters Models with Under-Actuation and Under-Sensing

• Centralized versus Local Control

• Problems

The following sections are included:

• Modular Modeling and Control Issues for Mixed Systems
  • Effort-Flow Modeling of Mechatronic Systems

• Modeling and Simulation of Distributed Parameters Systems
  • Examples of Distributed Parameters Systems
    • Examples of models of vibrating flexible structures
    • Acoustic fields
    • Heat transfer
    • Fluid flow
    • Electric and magnetic fields
  • Direct and Inverse Problems. Well Posed and Ill Posed Problems
  • Classification of Partial Differential Equations and Methods of Solving

• Overview of Open Loop and Closed Loop Control of Distributed Parameters Systems
  • Direct and Inverse Problems
  • Inverse Heat Conduction Problem
  • Open Loop Control of Distributed Parameters Systems
  • Closed Loop Control of Distributed Parameters Systems

• Under-Actuated and Under-Sensed Mixed Systems
  • General Problem of Multi DOF Linear Mechanical Systems. Lumped Parameters Model
  • Two DOF Mechanical System Case

• Problems

The following sections are included:

• Integral Equations and Continuous Inverse Problems
  • Integral Equations
  • Discrete Form
  • Other Examples of Discrete Inverse Problems

• Discrete Problems for LTI Systems
  • Introduction
  • Lumped Parameters Systems
    • State space representation
    • Complex functions representation
    • Convolution integral representation
    • Matrix form representation

• Discrete Inverse Problems Solved by Matrix Inversion
  • Types of Methods for Solving Inverse Problems
  • Inverse and Pseudo-Inverse. MATLAB Solutions
  • Over-Determined and Under-Determined Problems
  • SVD Method
  • Damped LS Solution
  • Regularization Method. Regularized LSS

• Problems

The following sections are included:

• Introduction

• First Order Instruments
  • Time and Frequency Response of Forward Dynamics
  • Bandwidth of First Order Instruments
  • Static Calibration of the Sensor
  • Sinusoidal Response of the Sensor-MATLAB Simulations
  • Analytical Solutions for Harmonic Response of First Order Instruments

• Second Order Instruments
  • Static Calibration
  • Harmonic Response of the Second Order Sensor with ζ =0.6. MATLAB Simulations
  • Analytical solutions for harmonic response of a second order instrument

• Calibration for Computer-Based Instrumentation
  • Calibration for computer based first order instruments
  • Phase Lead Compensation
  • Full and Reduced Order Dynamic Compensators
    • First order instrument
    • Second order instrument

• Dynamic Calibration in Case of Noisy Measurements

• State Estimation for Indirect Sensing
  • Derivation of the estimator for Indirect States Estimation using matrix Inversion approach
  • Luenberger Observer and Kalman filters
  • Indirect Estimation of States and inputs for LTI ODE Systems using Matrix Inversion

• Problems

The following sections are included:

• Active Vibration Suppression for Lumped Parameters Mechanical Systems Using Force and Position Control
  • Direct Problem
  • Force Control for SISO Mechanical System
  • Position Feedback Control Approach

• Control of Vibrations in Beams
  • Perturbation Cancellation Control in MIMO Linear Systems
  • Direct Problem in Beam Vibration Modeling
  • Feedback Control of Transversal Vibrations in Beams
  • Feedback Modal Control
  • Modal Control in Beam Vibration

• Direct Problem in Free Vibrations in Membranes
  • Membrane Vibration Solution Plotting
  • Simulation of Membrane Using FEMLAB

• Problems

The following sections are included:

• Acousto-Mechatronic Systems
  • Recording Studio
  • Active Sound Control in Halls
  • Active Noise Control

• Distributed Parameters Models of Sound Transmission
  • Wave Equation for Planar Sound Wave 1D Propagation in a Free Sound Field
  • Wave Equation for Planar Sound Wave 3D Propagation a Free Sound Field
  • Sound Wave Propagation in an Enclosed Sound Field

• Calculation of Room Eigenvalues and Eigenvectors for a Rectangular Cavity or Room

• Experimental and Simulation Study of Room Acoustics
  • Introduction
  • Proposed Approach
  • Simulation Model
  • Simulation Results Based on Ray Propagation approach
  • Experimental Results

• Discrete Inverse Problems Based on Direct and Reflected Ray Propagation
  • Parameters Estimation Using Direct Ray Propagation
  • Other Inverse Problems Using Ray Propagation

• Problems

The following sections are included:

• Direct Problem: Heat Flow Modeling and Simulation
  • Direct Problem Solving for 2–Dimentional (2D) Heat Conduction from a Distributed Heat Source
  • Direct Problem Simulation of 2D Heat Flow for a Continuous Point-Heat Source Input Using MAPLE™
  • Direct Problem Simulation of 2D Heat Flow for a Short Temperature Pulse Input Using FEMLAB™
  • Direct Problem Formulation for 3-D Heat Flow

• Inverse Problem Solution for Remote Temperature Monitoring
  • Introduction
  • Inverse Problem for Heat Flux Input Remote Estimation from Temperature Measurements

• Problems

The following sections are included:

• Introduction

• Direct Model

• Simulation Results for Linear Control

• State-Input Linearization of a Magnetic Levitation System
  • Feedback Linearization
  • State-Input Linearization and Linear Feedback Control

• Nonlinear Controller of a Magnetic Suspension System

• Problems

The following sections are included:

• Direct and Inverse Problems for Non-Minimum Phase Nonlinear Systems
  • Introduction
  • Direct Problem for Non-Minimum Phase Systems
  • Neural Network Approach to Inverse Dynamics

• Feedback Linearization of a Non-Minimum Phase UAV

• Mathematical Model for UAV Direct Problem

• Simulation Results for the Neural Controller and Output Redefinition

The following sections are included:

• References

• Index

• About the Author