By Takashi Yamaguchi, Mitsuo Hirata, Chee Khiang Pang
Mechatronic platforms are utilized in a number of customer items from large-scale braking platforms in vehicular brokers to small-scale built-in sensors in cell phones. to maintain velocity within the aggressive buyer electronics undefined, businesses have to constantly increase servo assessment and place regulate of those mechatronic structures. Advances in High-Performance movement regulate of Mechatronic structures covers complicated keep watch over subject matters for mechatronic purposes. particularly, the publication examines keep watch over platforms layout for ultra-fast and ultra-precise positioning of mechanical actuators in mechatronic systems.
The booklet systematically describes movement regulate layout equipment for trajectory layout, sampled-data designated positioning, temporary keep an eye on utilizing switching keep watch over, and dual-stage actuator regulate. every one strategy is defined intimately, from theoretical features to examples of tangible purposes together with harddrive drives, optical disk drives, galvano scanners, own mobility robots, and extra. This is helping readers larger know the way to translate keep watch over theories and algorithms from conception to layout and implementation in lifelike engineering structures. The ebook additionally identifies vital learn instructions and complex keep an eye on options that could supply recommendations for the following iteration of high-performance mechatronics.
Bridging learn and undefined, this ebook offers state of the art keep an eye on layout methodologies which are extensively appropriate to industries akin to production, robotics, domestic home equipment, autos, printers, and optical drives. It courses readers towards more desirable suggestions for high-performance mechatronic platforms of their personal items.
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Extra info for Advances in High-Performance Motion Control of Mechatronic Systems
One-Degree-Of-Freedom Control System . . . . . . . . Two-Degrees-Of-Freedom Control System . . . . . . . Implementation of Feedforward Input by TDOF Control Structure . . . . . . . . . . . . . . . . . . . . Optimum Feedforward Input Design . . . . . . . . . . . . . . 1 Minimum Time Control . . . . . . . . . . . . . . . . . 2 Minimum Jerk Input . . . . . . . . . . . . . . . . . . 3 Digital Implementation of Minimum Jerk Input .
The minimum time control input can be obtained by minimizing the cost function T J(T ) = 1 dt, 0 subject to the boundary conditions y(0) = 0, y(T ) = r, y(0) ˙ = 0, y(T ˙ ) = 0, and the input limitation |u(t)| ≤ umax . 7 Augmented system for minimum jerk input. where Topt = 2 r . 10) is referred to as bang-bang input. The minimum time control input achieves minimum positioning time if the plant is an ideal rigid-body system. However, all mechanical systems have resonant modes at high frequencies, and the residual vibrations generated by these mechanical vibration modes extend the positioning time.
Control design technologies which are developed and applied to actual HDDs were documented in  by ten contributors who are actively engaged in the development of the HDD servo control systems in either academia or industries. The main topics covered include system modeling and identiﬁcation, basic approach to motion control design, and control technologies for high-speed motion control, precision motion control, as well as energy-eﬃcient and low acoustic noise control. , as well as multi-rate controller and observer design.
Advances in High-Performance Motion Control of Mechatronic Systems by Takashi Yamaguchi, Mitsuo Hirata, Chee Khiang Pang