Recent Advances in Modelling and Control of Mechatronics System

Recent Advances in Modelling and Control of Mechatronics System

Abstract:

Electro-mechanical design and implementation of motion components can be ultimately affected the positioning and timing performance of high precision mechatronics system. In this seminar, the performance constraints on the modelling, control and mechanical design of high performance electro-mechanical system are presented. The limitation and constraints of the motion performance is introduced in the first section of the seminar. The motion performance requirements of an electro-mechanical system are represented in terms of travelling distance, profile time, settling time and steady-state error. The approach on the optimal trajectory for achieving the desired travel time with minimum excitation to the mechanism is discussed. The classical control design method in terms of frequency response is introduced. In the second section, an iterative learning controller is introduced to demonstrate performance improvement which cannot be achieved using simple feedback control method. A high precision parallel manipulator is employed to demonstrate the benefits of the proposed modelling and control methods.