Mechatronic Systems Design: Methods, Models, Concepts
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| Language: | English |
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Berlin
Springer
2012
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| Online Access: | Inhaltstext Inhaltsverzeichnis |
| Physical Description: | XXI, 805 S. Ill., graph. Darst. |
| ISBN: | 9783642175305 9783642175312 3642175309 |
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| 245 | 1 | 0 | |a Mechatronic Systems Design |b Methods, Models, Concepts |c Klaus Janschek. Translation by Kristof Richmond |
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IMAGE 1
CONTENTS
1 INTRODUCTION 1
1.1 MECHATRONICS, MECHATRONIC SYSTEMS 2
1.2 SYSTEMS DESIGN 9
1.3 INTRODUCTORY EXAMPLES 17
1.3.1 TELESCOPE WITH ADAPTIVE OPTICS 17
1.3.2 OPTOMECHATRONIC REMOTE SENSING CAMERA 31 1.4 ABOUT THIS BOOK 37
BIBLIOGRAPHY FOR CHAPTER 1 44
2 ELEMENTS OF MODELING 47
2.1 SYSTEMS ENGINEERING CONTEXT 48
2.2 SYSTEM MODELING WITH STRUCTURED ANALYSIS 55
2.2.1 DEFINITIONS 56
2.2.2 ORDERING PRINCIPLES 57
2.2.3 MODELING ELEMENTS OF STRUCTURED ANALYSIS 58
2.2.4 EXAMPLE PRODUCT: AUTOFOCUS CAMERA 64
2.2.5 ALTERNATIVE MODELING METHODS 69
2.3 MODELING PARADIGMS FOR MECHATRONIC SYSTEMS 72
2.3.1 GENERALIZED POWER AND ENERGY 74
2.3.2 ENERGY-BASED MODELING: LAGRANGE FORMALISM 79 2.3.3 ENERGY-BASED
MODELING: HAMILTON'S EQUATIONS 87 2.3.4 MULTI-PORT MODELING: KIRCHHOFF
NETWORKS 89 2.3.5 MULTI-PORT MODELING: BOND GRAPHS 102
2.3.6 ENERGY / MULTI-PORT MODELING: PORT-HAMILTONIAN SYSTEMS 103
2.3.7 SIGNAL-COUPLED NETWORKS 106
2.3.8 MODEL CAUSALITY 112
2.3.9 MODULAR MODELING OF MECHATRONIC SYSTEMS 118 2.4 SYSTEMS OF
DIFFERENTIAL-ALGEBRAIC EQUATIONS 131
2.4.1 INTRODUCTION TO DAE SYSTEMS 131
2.4.2 DAE INDEX TESTS 133
2.4.3 DAE INDEX REDUCTION 138
2.5 HYBRID SYSTEMS 140
BIBLIOGRAFISCHE INFORMATIONEN HTTP://D-NB.INFO/1007904747
DIGITALISIERT DURCH
IMAGE 2
XVI CONTENTS
2.5.1 GENERAL STRUCTURE OF A HYBRID SYSTEM 140
2.5.2 HYBRID PHENOMENA 141
2.5.3 NET-STATE MODELS 144
2.6 LINEAR SYSTEM MODELS 148
2.6.1 LOCAL LINEARIZATION OF NONLINEAR STATE SPACE MODELS . 149 2.6.2
LOCAL LINEARIZATION OF NONLINEAR DAE SYSTEMS 153 2.6.3 LTI SYSTEMS:
TRANSFER FUNCTION, FREQUENCY RESPONSE. 154 2.7 EXPERIMENTAL
DETERMINATION OF THE FREQUENCY RESPONSE 160
2.7.1 GENERAL CONSIDERATIONS 160
2.7.2 METHODOLOGICAL APPROACH 161
2.7.3 FREQUENCY RESPONSES MEASUREMENT VIA NOISE EXCITATION 162
BIBLIOGRAPHY FOR CHAPTER 2 166
3 SIMULATION ISSUES 171
3.1 SYSTEMS ENGINEERING CONTEXT 172
3.2 ELEMENTS OF NUMERICAL INTEGRATION 173
3.2.1 NUMERICAL INTEGRATION OF DIFFERENTIAL EQUATIONS 173 3.2.2 CONCEPTS
OF STABILITY 175
3.2.3 NUMERICAL STABILITY 177
3.3 STIFF SYSTEMS 181
3.4 WEAKLY-DAMPED SYSTEMS 185
3.5 HIGH-ORDER LINEAR SYSTEMS 188
3.5.1 GENERAL NUMERICAL INTEGRATION METHODS 188
3.5.2 SOLUTION VIA THE STATE TRANSITION MATRIX 189
3.5.3 ACCURACY OF THE SIMULATION SOLUTIONS 191
3.6 NUMERICAL INTEGRATION OF DAE SYSTEMS 194
3.6.1 EXPLICIT INTEGRATION METHODS 194
3.6.2 IMPLICIT INTEGRATION METHODS 196
3.6.3 SCALING FOR INDEX-2 SYSTEMS 199
3.6.4 CONSISTENT INITIAL VALUES 200
3.7 IMPLEMENTATION APPROACHES FOR SIMULATION OF HYBRID PHENOMENA 201
3.7.1 HANDLING DISCONTINUITIES 201
3.7.2 EVENT DETECTION 202
3.8 SIMULATION EXAMPLE: IDEAL PENDULUM 203
BIBLIOGRAPHY FOR CHAPTER 3 209
4 FUNCTIONAL REALIZATION: MULTIBODY DYNAMICS 211
4.1 SYSTEMS ENGINEERING CONTEXT 212
4.2 MULTIBODY SYSTEMS 213
4.3 PHYSICAL FUNDAMENTALS 216
IMAGE 3
CONTENTS XVII
4.3.1 KINEMATICS VS. DYNAMICS 216
4.3.2 RIGID BODIES 217
4.3.3 DEGREES OF FREEDOM AND CONSTRAINTS 223
4.4 MBS MODELS IN THE TIME DOMAIN 230
4.4.1 MODEL HIERARCHY FOR SYSTEMS DESIGN 230
4.4.2 MBS EQUATIONS OF MOTION 232
4.4.3 MBS STATE SPACE MODEL 237
4.5 NATURAL OSCILLATIONS 237
4.5.1 EIGENVALUE PROBLEM FOR CONSERVATIVE MULTIBODY SYSTEMS 237
4.5.2 EIGENMODES 239
4.5.3 DISSIPATIVE MULTIBODY SYSTEMS 245
4.6 RESPONSE CHARACTERISTICS IN THE FREQUENCY DOMAIN 249 4.7 MEASUREMENT
AND ACTUATION LOCATIONS 258
4.7.1 GENERAL MULTIPLE-MASS OSCILLATOR 258
4.7.2 ZEROS OF A MULTIPLE-MASS OSCILLATOR 259
4.7.3 COLLOCATED MEASUREMENT AND ACTUATION 264
4.7.4 NON-COLLOCATED MEASUREMENT AND ACTUATION 266 4.7.5 ANTIRESONANCE
267
4.7.6 MIGRATION OF MBS ZEROS 268
BIBLIOGRAPHY FOR CHAPTER 4 275
FUNCTIONAL REALIZATION: THE GENERIC MECHATRONIC TRANSDUCER 277
5.1 SYSTEMS ENGINEERING CONTEXT 278
5.2 GENERAL GENERIC TRANSDUCER MODEL 280
5.2.1 SYSTEM CONFIGURATION 280
5.2.2 MODELING APPROACH 283
5.3 THE UNLOADED GENERIC TRANSDUCER 288
5.3.1 ENERGY-BASED MODEL 288
5.3.2 CONSTITUTIVE ELM TRANSDUCER EQUATIONS 300
5.3.3 ELM TWO-PORT MODEL 304
5.4 THE LOADED GENERIC TRANSDUCER 311
5.4.1 ENERGY-BASED MODEL 311
5.4.2 NONLINEAR EQUATIONS OF MOTION 311
5.4.3 EQUILIBRIUM POSITIONS: OPERATING POINTS 316
5.4.4 LINEAR SIGNAL-BASED TRANSDUCER MODEL 320
5.4.5 TRANSFER MATRIX 323
5.4.6 DISCUSSION OF THE RESPONSE CHARACTERISTICS 324 5.5 LOSSY
TRANSDUCER 330
5.5.1 GENERAL TRANSDUCER BEHAVIOR 330
5.5.2 NONLINEAR MODEL: EQUILIBRIUM POSITIONS 333
IMAGE 4
XVIII CONTENTS
5.5.3 LINEAR SIGNAL-BASED MODEL 335
5.5.4 CONSTITUTIVE TWO-PORT EQUATIONS WITH DISSIPATIVE RESISTORS 337
5.5.5 LINEAR DYNAMIC ANALYSIS 338
5.5.6 GENERAL IMPEDANCE AND ADMITTANCE FEEDBACK 343 5.6
ELECTROMECHANICAL COUPLING FACTOR 350
5.6.1 GENERAL SIGNIFICANCE AND ATTRIBUTES 350
5.6.2 MODEL FOR CALCULATING ELM COUPLING FACTORS 352 5.6.3 DISCUSSION OF
ELM COUPLING FACTORS 358
5.7 TRANSDUCERS WITH MULTIBODY LOADS 362
5.7.1 FREQUENCY RESPONSE 362
5.7.2 IMPEDANCE AND ADMITTANCE FEEDBACK 367
5.8 MECHATRONIC RESONATOR 370
5.9 MECHATRONIC OSCILLATING GENERATOR 373
5.10 SELF-SENSING ACTUATORS 376
5.10.1 PRINCIPLE OF OPERATION 376
5.10.2 SIGNAL-BASED SELF-SENSING SOLUTION APPROACH 378 5.10.3 ANALOG
ELECTRICAL SELF-SENSING SOLUTIONS 379 BIBLIOGRAPHY FOR CHAPTER 5 385
6 FUNCTIONAL REALIZATION: ELECTROSTATIC TRANSDUCERS 389 6.1 SYSTEMS
ENGINEERING CONTEXT 390
6.2 PHYSICAL FOUNDATIONS 391
6.3 GENERIC ELECTROSTATIC TRANSDUCER 394
6.3.1 SYSTEM CONFIGURATION 394
6.3.2 ELECTROSTATIC CONSTITUTIVE TRANSDUCER EQUATIONS 395 6.3.3 ELM
TWO-PORT MODEL 399
6.3.4 LOADED ELECTROSTATIC TRANSDUCER 401
6.3.5 STRUCTURAL PRINCIPLES 403
6.4 TRANSDUCER WITH VARIABLE ELECTRODE SEPARATION AND VOLTAGE DRIVE 406
6.4.1 GENERAL DYNAMIC MODEL 406
6.4.2 INCREASING THE RANGE OF MOTION WITH SERIAL CAPACITORS 411
6.4.3 PASSIVE DAMPING WITH SERIAL RESISTANCE 413
6.5 TRANSDUCER WITH VARIABLE ELECTRODE SEPARATION AND CURRENT DRIVE 420
6.6 DIFFERENTIAL TRANSDUCERS 423
6.6.1 GENERIC TRANSDUCER CONFIGURATION 423
6.6.2 PUSH-PUSH CONTROL: MECHANICALLY SYMMETRIC CONFIGURATION 425
6.6.3 PUSH-PUSH CONTROL: TRANSVERSE COMB TRANSDUCER 426
IMAGE 5
CONTENTS XIX
6.6.4 PUSH-PULL CONTROL: ELECTROSTATIC BEARING 431
6.6.5 PUSH-PULL CONTROL: AXISYMMETRIC DOUBLE-COMB TRANSDUCER 435
6.7 TRANSDUCERS WITH CONSTANT ELECTRODE SEPARATION 437 6.7.1 GENERAL
DYNAMIC MODEL 437
6.7.2 LONGITUDINAL COMB TRANSDUCER 440
6.7.3 COMB TRANSDUCER WITH LINEARLY STEPPED TEETH 444 BIBLIOGRAPHY FOR
CHAPTER 6 446
FUNCTIONAL REALIZATION: PIEZOELECTRIC TRANSDUCER 449 7.1 SYSTEMS
ENGINEERING CONTEXT 450
7.2 PHYSICAL FOUNDATIONS 451
7.3 GENERIC PIEZOELECTRIC TRANSDUCER 459
7.3.1 SYSTEM CONFIGURATION 459
7.3.2 CONSTITUTIVE PIEZOELECTRIC TRANSDUCER EQUATIONS 460 7.3.3 ELM
TWO-PORT MODEL 462
7.3.4 LOADED PIEZOELECTRIC TRANSDUCER 463
7.3.5 STRUCTURAL PRINCIPLES 468
7.4 TRANSDUCERS WITH IMPEDANCE FEEDBACK 477
7.5 MECHANICAL RESONATORS 483
7.5.1 PROPORTIONAL OPERATION VS. RESONANT OPERATION 483 7.5.2 ULTRASONIC
PIEZO MOTORS 484
BIBLIOGRAPHY FOR CHAPTER 7 490
FUNCTIONAL REALIZATION: ELECTROMAGNETICALLY-ACTING TRANSDUCERS 493
8.1 SYSTEMS ENGINEERING CONTEXT 494
8.2 PHYSICAL FOUNDATIONS 497
8.3 GENERIC EM TRANSDUCER: VARIABLE RELUCTANCE 507
8.3.1 SYSTEM CONFIGURATION 507
8.3.2 CONSTITUTIVE ELECTROMAGNETIC TRANSDUCER EQUATIONS 508 8.3.3 ELM
TWO-PORT MODEL 512
8.3.4 LOADED ELECTROMAGNETIC (EM) TRANSDUCER 514 8.3.5 STRUCTURAL
PRINCIPLES 517
8.3.6 EM TRANSDUCERS WITH VARIABLE WORKING AIR GAPS 524 8.3.7
DIFFERENTIAL EM TRANSDUCERS: MAGNETIC BEARINGS 539 8.3.8 EM TRANSDUCERS
WITH CONSTANT WORKING AIR GAPS 546
8.3.9 RELUCTANCE STEPPER MOTOR 549
8.4 GENERIC ED TRANSDUCER: LORENTZ FORCE 558
8.4.1 SYSTEM CONFIGURATION 558
8.4.2 CONSTITUTIVE ELECTRODYNAMIC TRANSDUCER EQUATIONS 559 8.4.3 ELM
TWO-PORT MODEL 562
IMAGE 6
XX CONTENTS
8.4.4 LOADED ELECTRODYNAMIC (ED) TRANSDUCER 563
8.4.5 STRUCTURAL PRINCIPLES 567
BIBLIOGRAPHY FOR CHAPTER 8 574
9 FUNCTIONAL REALIZATION: DIGITAL INFORMATION PROCESSING 575 9.1 SYSTEMS
ENGINEERING CONTEXT 576
9.2 DEFINITIONS 578
9.2.1 REFERENCE CONFIGURATION 578
9.2.2 MODELING APPROACHES 579
9.3 SAMPLING 581
9.4 ALIASING 586
9.5 HOLD ELEMENT 589
9.6 SAMPLED PLANT FREQUENCY RESPONSE 593
9.7 ALIASING IN OSCILLATORY SYSTEMS 596
9.8 DIGITAL CONTROLLERS 601
9.9 TRANSFORMED FREQUENCY DOMAIN 604
9.10 SIGNAL CONVERSION 614
9.11 DIGITAL DATA COMMUNICATIONS 618
9.12 REAL-TIME ASPECTS 622
9.13 DESIGN CONSIDERATIONS 624
BIBLIOGRAPHY FOR CHAPTER 9 626
10 CONTROL THEORETICAL ASPECTS 629
10.1 SYSTEMS ENGINEERING CONTEXT 630
10.2 GENERAL DESIGN CONSIDERATIONS 631
10.3 MODELING UNCERTAINTIES 642
10.3.1 MBS PARAMETER UNCERTAINTIES 642
10.3.2 UNMODELED EIGENMODES 644
10.3.3 PARASITIC DYNAMICS 645
10.4 ROBUST STABILITY FOR MULTIBODY SYSTEMS 645
10.4.1 NYQUIST CRITERION IN INTERSECTION FORMULATION 645 10.4.2
STABILITY ANALYSIS WITH THE NICHOLS DIAGRAM 650 10.4.3 ROBUST STABILITY
OF ELASTIC EIGENMODES 654
10.5 MANUAL CONTROLLER DESIGN IN THE FREQUENCY DOMAIN 656 10.5.1 ROBUST
CONTROL STRATEGIES 656
10.5.2 GENERIC CONTROLLER TYPES FOR MULTIBODY SYSTEMS 659 10.5.3
TRANSIENT DYNAMICS UNDER UNITY FEEDBACK 666 10.5.4 CONTROL OF A
SINGLE-MASS OSCILLATOR 668
10.5.5 COLLOCATED MBS CONTROL 674
10.5.6 NON-COLLOCATED MBS CONTROL 680
10.6 VIBRATION ISOLATION 686
10.6.1 PASSIVE VIBRATION ISOLATION 686
IMAGE 7
CONTENTS XXI
10.6.2 ACTIVE VIBRATION ISOLATION: THE SKYHOOK PRINCIPLE 688 10.6.3
ACTIVE PROOF MASS DAMPER 700
10.7 OBSERVABILITY AND CONTROLLABILITY ASPECTS 700
10.7.1 GENERAL PROPERTIES 700
10.7.2 MBS CONTROL IN RELATIVE COORDINATES 704
10.7.3 MEASUREMENT AND ACTUATION LOCATIONS AT OSCILLATION NODES 710
10.8 DIGITAL CONTROL 711
10.8.1 GENERAL DESIGN PROCESS 711
10.8.2 RIGID-BODY-DOMINATED SYSTEMS 714
10.8.3 SYSTEMS WITH UNMODELED EIGENMODES (SPILLOVER) 717 11.8.4 ALIASING
IN DIGITAL CONTROLLERS 719
10.8.5 ALIASING OF MEASUREMENT NOISE 720
BIBLIOGRAPHY FOR CHAPTER 10 724
11 STOCHASTIC DYNAMIC ANALYSIS 727
11.1 SYSTEMS ENGINEERING CONTEXT 728
11.2 ELEMENTS OF STOCHASTIC SYSTEMS THEORY 730
11.2.1 RANDOM VARIABLES 730
11.2.2 STOCHASTIC TIME FUNCTIONS, RANDOM PROCESSES 736 11.2.3 LTI
SYSTEMS WITH STOCHASTIC INPUTS 740
11.3 WHITE NOISE 742
11.4 COLORED NOISE 744
11.5 MODELING NOISE SOURCES 749
11.6 COVARIANCE ANALYSIS 754
BIBLIOGRAPHY FOR CHAPTER 11 763
12 DESIGN EVALUATION: SYSTEM BUDGETS 765
12.1 SYSTEMS ENGINEERING CONTEXT 766
12.2 PERFORMANCE METRICS: PERFORMANCE PARAMETERS 767 12.3 LINEAR
BUDGETING OF METRICS 770
12.4 NONLINEAR BUDGETING OF METRICS 774
12.5 PRODUCT ACCURACY 779
12.6 BUDGETING HETEROGENEOUS METRICS 780
12.7 DESIGN OPTIMIZATION USING BUDGETS 784
12.8 DESIGN EXAMPLES 786
BIBLIOGRAPHY FOR CHAPTER 12 794
APPENDIX A 795
COVARIANCE FORMULAE 795
INDEX 799 |
| any_adam_object | 1 |
| author | Janschek, Klaus |
| author_facet | Janschek, Klaus |
| author_role | aut |
| author_sort | Janschek, Klaus |
| author_variant | k j kj |
| building | Verbundindex |
| bvnumber | BV039735620 |
| classification_rvk | ZQ 7050 |
| ctrlnum | (OCoLC)800084373 (DE-599)DNB1007904747 |
| dewey-full | 621 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 621 - Applied physics |
| dewey-raw | 621 |
| dewey-search | 621 |
| dewey-sort | 3621 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Maschinenbau / Maschinenwesen Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| illustrated | Illustrated |
| indexdate | 2024-09-06T00:20:32Z |
| institution | BVB |
| isbn | 9783642175305 9783642175312 3642175309 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-024583407 |
| oclc_num | 800084373 |
| open_access_boolean | |
| owner | DE-1043 DE-703 DE-573 |
| owner_facet | DE-1043 DE-703 DE-573 |
| physical | XXI, 805 S. Ill., graph. Darst. |
| publishDate | 2012 |
| publishDateSearch | 2012 |
| publishDateSort | 2012 |
| publisher | Springer |
| record_format | marc |
| spelling | Janschek, Klaus Verfasser aut pub. 2010 ger Mechatronic Systems Design Methods, Models, Concepts Klaus Janschek. Translation by Kristof Richmond Berlin Springer 2012 XXI, 805 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Systementwicklung (DE-588)4126945-7 gnd rswk-swf Mechatronik (DE-588)4238812-0 gnd rswk-swf Mechatronik (DE-588)4238812-0 s Systementwicklung (DE-588)4126945-7 s DE-604 Erscheint auch als Online-Ausgabe Mechatronic Systems Design X:MVB text/html http://deposit.dnb.de/cgi-bin/dokserv?id=3554134&prov=M&dok_var=1&dok_ext=htm Inhaltstext DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024583407&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Janschek, Klaus Mechatronic Systems Design Methods, Models, Concepts Systementwicklung (DE-588)4126945-7 gnd Mechatronik (DE-588)4238812-0 gnd |
| subject_GND | (DE-588)4126945-7 (DE-588)4238812-0 |
| title | Mechatronic Systems Design Methods, Models, Concepts |
| title_auth | Mechatronic Systems Design Methods, Models, Concepts |
| title_exact_search | Mechatronic Systems Design Methods, Models, Concepts |
| title_full | Mechatronic Systems Design Methods, Models, Concepts Klaus Janschek. Translation by Kristof Richmond |
| title_fullStr | Mechatronic Systems Design Methods, Models, Concepts Klaus Janschek. Translation by Kristof Richmond |
| title_full_unstemmed | Mechatronic Systems Design Methods, Models, Concepts Klaus Janschek. Translation by Kristof Richmond |
| title_short | Mechatronic Systems Design |
| title_sort | mechatronic systems design methods models concepts |
| title_sub | Methods, Models, Concepts |
| topic | Systementwicklung (DE-588)4126945-7 gnd Mechatronik (DE-588)4238812-0 gnd |
| topic_facet | Systementwicklung Mechatronik |
| url | http://deposit.dnb.de/cgi-bin/dokserv?id=3554134&prov=M&dok_var=1&dok_ext=htm http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024583407&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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