Design for control: A concurrent engineering approach for mechatronic systems design

The well-accepted basis for developing a mechatronic system is a synergetic concurrent design process that integrates different engineering disciplines. In this paper, a general model is derived to mathematically describe the concurrent design of a mechatronic system. Based on this model, a concurrent engineering approach, coined Design For Control (DFC), is formally presented for mechatronic systems design. Compared to other mechatronic design methodologies, DFC emphasizes obtaining a simple dynamic model of the mechanical structure by a judicious structure design and a careful selection of mechanical parameters. Once the simple dynamic model is available, in spite of the complexity of the mechanical structure, the controller design can be facilitated and better control performance can be achieved. Four design scenarios in application of DFC are addressed. A case study is implemented to demonstrate the effectiveness of DFC through the design and control of a programmable four-bar linkage.

[1]  R. Horowitz,et al.  Track-seeking controller design for dual-stage actuator in magnetic disk drives , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[2]  R. Horowitz,et al.  Precision positioning using a microfabricated electrostatic actuator , 1999 .

[3]  Li Chen,et al.  A MODIFIED DEMPSTER-SHAFER THEORY FOR MULTICRITERIA OPTIMIZATION , 1998 .

[4]  Niels Olhoff,et al.  On the Design of Structure and Controls for Optimal Performance of Actively Controlled Flexible Structures , 1987 .

[5]  M. White,et al.  Hard disk drive bandwidth limitations due to sampling frequency and computational delay , 1999, 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Cat. No.99TH8399).

[6]  Ben M. Chen,et al.  Discrete-time LQG/LTR dual-stage controller design and implementation for high track density HDDs , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[7]  H.M.J. Van Brussel,et al.  Mechatronics-a powerful concurrent engineering framework , 1996 .

[8]  Toshiki Hirano,et al.  Dual-stage servo controller for HDD using MEMS microactuator , 1999 .

[9]  G. G. Lowen,et al.  A New Method for Com-pletely Force Balancing Simple Linkages , 1969 .

[10]  Manohar P. Kamat.  Integrated Optimum Structural And Control Design , 1993 .

[11]  Roberto Horowitz,et al.  High-bandwidth high-accuracy rotary microactuators for magnetic hard disk drive tracking servos , 1998 .

[12]  H. Harry Asada,et al.  Integrated structure/control design of mechatronic systems using a recursive experimental optimization method , 1996 .

[13]  Y. Yamaguchi,et al.  A dual-stage magnetic disk drive actuator using a piezoelectric device for a high track density , 1991 .

[14]  V. Utkin.  Variable structure systems with sliding modes , 1977 .

[15]  Toshiki Hirano,et al.  Electrostatic microactuator and design considerations for HDD applications , 1999 .

[16]  Jahng-Hyon Park,et al.  Concurrent Design Optimization of Mechanical Structure and Control for High Speed Robots , 1993, 1993 American Control Conference.

[17]  S. Koganezawa,et al.  Dual-stage actuator system for magnetic disk drives using a shear mode piezoelectric microactuator , 1999 .

[18]  Roberto Horowitz,et al.  Dual-stage track-following servo design for hard disk drives , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[19]  Jian-Shiang Chen,et al.  Experiments toward MRAC design for linkage system , 1996 .

[20]  T. S. Low,et al.  Dual stage actuators for high density rotating memory devices , 1998 .

[21]  Arthur L. Hale,et al.  Optimal simultaneous structural and control design of maneuvering flexible spacecraft , 1985 .

[22]  Wen-Jun Zhang,et al.  Improving motion tracking of servomotor-driven closed-loop mechanisms using mass-redistribution , 2000 .