Integrated structure and control design for mechatronic systems with configuration-dependent dynamics

This paper considers the optimal design of mechatronic systems with configuration-dependent dynamics. An optimal mechatronic design requires that, among the structural and control parameters, an optimal choice has to be made with respect to design specifications in the different domains. Two main ch...

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Veröffentlicht in:	Mechatronics (Oxford) Jg. 19; H. 6; S. 1016 - 1025
Hauptverfasser:	da Silva, Maíra Martins, Brüls, Olivier, Desmet, Wim, Van Brussel, Hendrik
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Elsevier Ltd 01.09.2009 Pergamon Press - An Imprint of Elsevier Science
Schlagworte:	Computer science Engineering, computing & technology Flexible multibody systems Ingénierie, informatique & technologie Mathematics Mathématiques Motion control Multi-objective optimization Physical, chemical, mathematical & earth Sciences Physique, chimie, mathématiques & sciences de la terre Sciences informatiques Virtual prototyping Flexible multibody systems Multi-objective optimization Virtual prototyping Motion control
ISSN:	0957-4158, 1873-4006
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Abstract	This paper considers the optimal design of mechatronic systems with configuration-dependent dynamics. An optimal mechatronic design requires that, among the structural and control parameters, an optimal choice has to be made with respect to design specifications in the different domains. Two main challenges are treated in this paper: the non-convex nature of the optimization problem and the difficulty in modeling serial machines with flexible components and their embedded controllers. The optimization problem is treated using the direct design strategy which considers simultaneously structural and control parameters as variables and adopts non-convex optimization algorithms. Linear time-invariant and gain-scheduling PID controllers are addressed. This methodology is exploited for the multi-objective optimization of a pick-and-place assembly robot with a gripper carried by a variable-length flexible beam. The resulting design tradeoffs between system accuracy and control efforts demonstrate the advantage of an integrated design approach for mechatronic systems with configuration-dependent dynamics.
AbstractList	This paper considers the optimal design of mechatronic systems with configuration-dependent dynamics. An optimal mechatronic design requires that, among the structural and control parameters, an optimal choice has to be made with respect to design specifications in the different domains. Two main challenges are treated in this paper: the non-convex nature of the optimization problem and the difficulty in modeling serial machines with flexible components and their embedded controllers. The optimization problem is treated using the direct design strategy which considers simultaneously structural and control parameters as variables and adopts non-convex optimization algorithms. Linear time-invariant and gain-scheduling PID controllers are addressed. This methodology is exploited for the multi-objective optimization of a pick-and-place assembly robot with a gripper carried by a variable-length flexible beam. The resulting design tradeoffs between system accuracy and control efforts demonstrate the advantage of an integrated design approach for mechatronic systems with configuration-dependent dynamics. This paper considers the optimal design of mechatronic systems with configuration-dependent dynamics. An optimal mechatronic design requires that, among the structural and control parameters, an optimal choice has to be made with respect to design specifications in the different domains. Two main challenges are treated in this paper: the non-convex nature of the optimization problem and the difficulty in modeling serial machines with flexible components and their embedded controllers. The optimization problem is treated using the direct design strategy which considers simultaneously structural and control parameters as variables and adopts non-convex optimization algorithms. Linear time-invariant and gain-scheduling PID controllers are addressed. This methodology is exploited for the multi-objective optimization of a pick-and-place assembly robot with a gripper carried by a variable-length flexible beam. The resulting design tradeoffs between system accuracy and control efforts demonstrate the advantage of an integrated design approach for mechatronic systems with configuration-dependent dynamics. 2009 Elsevier Ltd. All rights reserved.
Author	da Silva, Maíra Martins Brüls, Olivier Van Brussel, Hendrik Desmet, Wim
Author_xml	– sequence: 1 givenname: Maíra Martins surname: da Silva fullname: da Silva, Maíra Martins email: mairams@gmail.com organization: Katholieke Universiteit Leuven, Department of Mechanical Engineering, Celestijnenlaan 300 B, B-3001 Leuven, Belgium – sequence: 2 givenname: Olivier surname: Brüls fullname: Brüls, Olivier organization: University of Liège, Department of Aerospace and Mechanical Engineering (LTAS), Chemin des Chevreuils 1, 4000 Liège, Belgium – sequence: 3 givenname: Wim surname: Desmet fullname: Desmet, Wim organization: Katholieke Universiteit Leuven, Department of Mechanical Engineering, Celestijnenlaan 300 B, B-3001 Leuven, Belgium – sequence: 4 givenname: Hendrik surname: Van Brussel fullname: Van Brussel, Hendrik organization: Katholieke Universiteit Leuven, Department of Mechanical Engineering, Celestijnenlaan 300 B, B-3001 Leuven, Belgium
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Snippet	This paper considers the optimal design of mechatronic systems with configuration-dependent dynamics. An optimal mechatronic design requires that, among the...
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SubjectTerms	Computer science Engineering, computing & technology Flexible multibody systems Ingénierie, informatique & technologie Mathematics Mathématiques Motion control Multi-objective optimization Physical, chemical, mathematical & earth Sciences Physique, chimie, mathématiques & sciences de la terre Sciences informatiques Virtual prototyping
Title	Integrated structure and control design for mechatronic systems with configuration-dependent dynamics
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