A mechatronic system may consist of four subsystems, namely, the linkage system, the actuator system, the sensor system and the control system. To model a complicated system such as a mechatronic system the aid of a digital computer is necessary. The long-term goal of this project is the development of an expert system for the modeling and control of mechatronic systems. In the current phase, the modeling of linkage systems and the actuator systems are considered. A symbolic program is developed which can derive the literal equations of motion for linkage systems and commonly-used actuator systems. A linear dynamic model of the linkage system is also developed for the design of linear state or output feedback controllers. Two examples are used to illustrate the applicability of the program. Inverse dynamics problems for the examples are solved and simulations of open-loop control are performed. The advantages of using symbolic computing are discussed.
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Mechanical Engineering
- Computer Science Applications
- Electrical and Electronic Engineering