Mechatronic Systems: Analysis, Design and Implementation

523 Pages·2012·4.54 MB·English

Mechatronic Systems

El-Kébir Boukas and Fouad M. AL-Sunni
Mechatronic Systems
Analysis, Design and Implementation
ABC
Authors
Prof.El-KébirBoukas Prof.FouadM.AL-Sunni
MechanicalEngineeringDepartment DepartmentofSystemsEngineering
EcolePolytechniquedeMontreal KingFahdUniversityofPetroleum
P.O.Box6079,Station“centre-ville" andMinerals
Montreal,Quebec,H3C3A7 Dhahran,31261
Canada SaudiArabia
Email:[email protected] E-mail:[email protected]
ISBN978-3-642-22323-5 e-ISBN978-3-642-22324-2
DOI10.1007/978-3-642-22324-2
LibraryofCongressControlNumber:2011931791
(cid:2)c 2011Springer-VerlagBerlinHeidelberg
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Preface
Nowadays most of the systems are computer controlled among them we quote
mechatronicsystemswheretheintelligenceisimplementedinmicrocontrollers.The
disciplinethatdealswithsuchsystemsismechatronicsthatwedefineasthesyner-
gisticcombinationofmechanicalengineering,electronicengineering,andsoftware
engineering. The purpose of this interdisciplinary engineering field is to control
complex systems by providing hardware and software solutions. The engineers
workinginthisfieldmustmasterconceptsinelectronics,controlandprogramming.
Examplesof such systems can be foundin differentindustrial areas rangingfrom
aerospacetoautomobileindustries.
Inthemechanicalpart,theengineermustfollowarigorousproceduretodesign
themechatronicsystem.Hemustbuildthemechanicalpartofthesystemandchoose
the appropriate sensors and actuators that have to be used in the functioning of
the mechatronic system. At this phase we must think about the place where the
electroniccircuitwillbeintegrated.
Intheelectronicspart,theengineermustdesigntheelectroniccircuitaroundmi-
crocontrollersthatwillassurethefunctioningofthemechatronicssystems.Itcovers
theintegrationoftherequiredelectronicscomponentssuchasresistors,capacitors,
integratedcircuits,sensorsandthechosenmicrocontrollers.Therequiredregulated
voltageforthedifferentcomponentsisalsopartofthisstep.
Inthecontrolpart,theengineermustanalyzethesystemunderstudyanddesign
theappropriatecontrollertogetthedesiredperformances.Intheanalysispart,we
shouldstartbyestablishinganacceptablemodelthatgivestherelationshipbetween
the inputs and the outputs. Once the dynamics is mastered a sampling period is
chosenandthemodelisconvertedtoadiscrete-timeformandanappropriatecon-
trollercanbechosenamongtheclassicalproportionalintegralandderivative(PID)
VI
controlleror the state feedbackcontrolleror anyothercontrollerthatcan givethe
desiredperformances.
Intheprogrammingpart,theengineermustdevelopthecodeoftheappropriate
algorithmsandthenuploaditin the memoryofthe chosenmicrocontroller.Many
languagescanbeusedforthispurpose.Intherestofthisvolume,theClanguageis
usedtoimplementthedevelopedalgorithms.
Thefieldofmechatronicsisbloomingandduetoitsinterdisciplinaritymanyuni-
versitiesaroundtheworldhaveintroducedcompleteprogramsonmechatronicsin
theircurriculum.Alsothenumberofstudentsthatareattractedbythisfieldisalso
bloomingandmanyresearchdirectionsrelatedtothishaveemergedrecently.Huge
effortshavebeendonetostructureresearchinthisdisciplineandwehaveseenre-
centlymanyinternationalconferencestotallydedicatedtothis.Alsosomejournals
havebeencreatedtoreportinterestingresultsonthesubject.Unfortunatelythenum-
berofbookdealingwithsuchdisciplineislimitedandsometimesinappropriatefor
somecoursesinthedifferentprogramsaroundtheworld.
Thisbookprovidessometoolsthatengineersworkingonthemechatronicsdisci-
plinecanuse.Itcanbeconsideredasareferenceforasecondcourseinmechatronics
curriculumwherethestudentsaresupposedtohaveaprerequisitecourseinwhich
the structure and the different components on mechatronics systems have been
presented.Itfocusesonlyontheanalysis,designandimplementationofcontinuous-
time systems controlledby microcontrollersusing advanced algorithmsto get the
desiredperformances.
The hardware design of the mechatronic systems represents the hearth of the
mechatronics field. It consists of designing the different parts of the mechatronic
systems.Mainlybesidetheelectroniccircuit,weshouldselecttheappropriatesen-
sors and actuatorsthat we can use for our mechatronicsystem. The choice of the
microcontrollerisalsoimportantforthesuccessofthedesiredsystem.
Inthemodelingpartamodeltodescribethebehaviorofthesystemisdeveloped
either using the transfer function or the state space representation. In the transfer
function approach part, the model of the continuous-time systems is converted to
a discrete-time system and different techniquesfor analysis and synthesis of con-
trollers to guarantee some desired performancesare developed. In the state space
approachpart,themodelofthecontinuous-timesystemsisconvertedtoadiscrete-
time state space representationand differenttechniquesfor analysis and synthesis
ofcontrollerstoassuresomedesiredperformancesaredeveloped.
The part on implementation will focus on how we can implement the control
algorithmwedevelopedeitherusingthetransferfunctiontoolsortheonesbasedon
statespace.Boththehardwareandsoftwarepartswillbecoveredtogiveanideafor
thereaderonhowtodealwith suchproblems.Mainlytheselectionofthesensors
andtheactuatorsthatmaybeusedinthemechatronicsystemwillbecovered.
Intheadvancecontrolpart,aflavorofhowtodesigncontrollersthathandleun-
certaintiesandexternaldisturbancesinthedynamicsispresented.Thiswillgivean
ideatothereaderonrobustcontroltechniqueandgetfamiliarwithimplementation
of these techniques. Stability and stabilization problems and their robustness are
covered.Differentcontrollers(state feedback,static outputfeedbackand dynamic
VII
outputfeedback)areusedandlinearmatrixinequality(LMI)conditionisdeveloped
todesignsuchcontrollers.
Inthecasestudiespart,acertainnumberofpracticalexamplesarepresentedto
showhowtheconceptswepresentedearlierareimplementedtoobtainafunctional
mechatronics systems. More detail is given to help the reader to design his own
mechatronicsysteminthefuture.
The rest of this book is organized in seven parts and divided in eleven chap-
tersandoneappendix.Intheintroduction,ageneraloverviewofthemechatronics
fieldsisgivenandthemainconceptsarerecalledtomakethebookself-contained.
InChapter2,thestructureofmechatronicsystemsaredetailedandsomeexamples
are given. Chapter 3 which is a part of the modeling part, deals with the model-
ingproblemoftheclassoflinearcontinuous-timesystems.Boththephysicallaws
and identification approaches are covered. The concepts of transfer function and
statespacerepresentationsarepresented.Chapter4treatstheZ-transformandits
propertiesand how the transfer functionis obtainedfrom a modelthatis givenin
a set of differential equations. Other techniques for analysis of such systems are
also covered. In Chapter 5, some design approaches based on transfer function
are developed.Chapter 6 deals with the state space approach for analyzing linear
discrete-time systems. The concepts of stability, controllability and observability
arecovered.InChapter7,thestatefeedback,staticoutputanddynamicoutputsta-
bilizationtechniquesaretackled.Chapter8dealswiththeimplementationproblem
of the control algorithm we may develop for controlling a given continuous-time
system.Thefocuswillbemadeonallthesteps.Mainlythehardwareandsoftware
parts are covered in detail to help the reader to develop his own expertise. Chap-
ter9presentssomeideasonrobustcontrol.Stabilityandstabilizationproblemsfor
systemswithuncertaintiesandexternaldisturbancesaretackled.Chapter10covers
theguaranteedcostcontrolproblem.Differenttypesofcontrollersareusedforthis
purpose.InChapter 11someselected systemsare consideredandall theconcepts
wedevelopedinthisbookareappliedtogivethe wholepictureforthereader.An
appendixthatcontainssomerelevanttoolsisalsoprovidedtotrytomakethebook
self-contained.
El-Ke´birBoukas
FouadM.AL-Sunni

In Memory of Prof. El-Ke´bir Boukas
Missingaverydearfriend
Born in Morocco in 1954, Prof. Boukas obtained his BS Electrical Engineering
degree from Ecole Mohammadia des Ingenieurswith excellent standing and with
anearlyfocusoncontrolandapplicationonlargescalesystems.Sincethen,hewas
fascinatedbytheareaofcontrolanditsapplication.Tofulfilhisdesignofknowing
moreaboutit,hemovedtoCanadatopursuehishigherstudies.Adecisionwhich
provedrewarding,hefinishedhisMSandPhDinElectricalEngineeringfromEcole
Polytechnique of Montreal, and established himself as an authority in his area of
specialization of control and automation with specialization in the use of control
toolsinmanufacturing,maintenanceandinventorycontrol.
Inhismid-fifties,heleftuswhilestillactiveinhisresearchandveryproductive.
Infact,the manuscriptofthisbookwaswithhim whileinhospitalduringthelast
fewweeksofhislife.Heleftbehindanexcellentprofileofaccomplishmentsinthe
formof167HighcaliperInternationalJournals,morethan8booksandmanyeduca-
tionalsoftwareandmaterials,andveryvisiblepresenceininternationalconferences
with more than 125 papers and presentations in conferences and involvements in
organizations,andinternationaltechnicalcommitteeofseveralofconferencesover
theyears.
Afterfightingforhislife,hepassedawaypeacefullyandheleftbehindhisloyal
wife , two daughters (A dentist, and an MD) and one son (soon to-be physical
therapist).
I haveknownhimsince1996,andsincehisvisittousinKingFahdUniversity
ofPetroleumandMinerals,Ihaveknownhimtobeakind,nice,helpful,anddear
friendtoall.HehasbeenoneofmybestfriendsthatIwillalwaysremember.Heleft
mewiththejobofcompletingthismanuscriptsandthentotranslateittoArabicto
bethefirsttextbookonthesubject.TheEnglishversionisnowout,andtheArabic
versionisbeingscheduledatalatertime.
FouadM.AL-Sunni