Jan Vetiska

Using of Co-simulation ADAMS-SIMULINK for development of mechatronic systems

This paper deals with an efficient technique for the development of mechatronic systems. Individual parts of such system as mechanics, actuators, sensors, control system, etc. are designed in several passes through V-model with respects to mutual feedbacks. Based on this methodology the developed system is made as a virtual prototype and can be tested and simulated using co-simulation technique. The ADAMS and SIMULINK co-simulation is used and it is based on direct embedding of dynamic model of the mechanical system with sensors and actuators implemented in ADAMS into MATLAB environment to a control system design and a virtual prototype model tuning. So the complex model of mechatronic system applies the same implementation for design, simulation and testing.

Energy Harvesting from Mechanical Shocks Using a Sensitive Vibration Energy Harvester

This paper deals with a unique principle of energy harvesting technologies. An energy harvesting device generates electric energy from its surroundings using some kind of energy conversion method. Therefore, the considered energy harvesting device does not consume any fuel or substance. The presented energy harvesting system is used forenergy harvesting of electrical energy from mechanical shocks. The presented energy harvesting system uses a very sensitive vibration energy harvester, which was developed for an aeronautic application at Brno University of Technology. This energy harvesting system is a complex mechatronic device, which consists of a precise mechanical part, an electromagnetic converter, power electronics (power management) and a load (e.g., wireless sensor). The very sensitive vibration energy harvester is capable of usingthe mechanical energy of mechanical shocks and it can harvest useful energy. This energy harvesting system is used with a wireless temperature sensor and measured results are presented in this paper.

Simulation modelling of mechatronic system with flexible parts

This paper deals with a simulation modelling of developed mechatronic systems, which contain a flexible behaviour of individual mechanical parts. The developed process usually contains ideal models of rigid mechanical system. The presented simulation model consists of a mechanical multi-body system with flexible parts, models of actuators, sensors and control and it is used for the development of this system with respect of the mechatronic approach. The dynamic behaviour of the whole model is analysed and the flexible properties of the mechanical system are considered. The co-simulation technique is used for this task in which the multi-body model of the developed system in ADAMS is controlled by a model in Matlab/SIMULINK environment. The complex model of the developed mechatronic system can be used as the virtual prototype of the real system and its behaviour can be tested and analysed.

Simulation Modelling and Control of Mechatronic Systems with Flexible Parts

This paper deals with a simulation modelling of mechatronic systems with flexible parts. The presented approach can be used for a development of the mechatronic system which contains flexible parts. Deformations of these flexible parts affect behaviour of the whole mechatronic system. The flexible parts are included in the most of engineering applications and during a development cycle the behaviour of such parts is usually assumed as the behaviour of rigid parts and spring elements. The presented simulation modelling of the mechatronic system includes the behaviour of a multi-body system with the flexible parts using co-simulation techniques and it can be useful for a control design and a better prediction of the mechatronic system behaviour especially in systems where a deformation of flexible parts is significant for a correct operation of the system.

Using of simulation modelling for developing of active damping system

This paper deals with a simulation modeling of a mechatronic system as multi-body system with an active damping element. Modeled mechatronic system is based on a mechanical multi-body model with flexible parts, model of actuator, sensor and a control system. A development process of the active damping model and the control system is presented in this paper. This development process of mechatronic system is applied on a mechanical model of cutting tool during a turning operation.

Model-Based Design of Mobile Platform with Integrated Actuator – Design with Respect to Mechatronic Education

This paper deals with a model-based design of an actuator for a mobile platform. This paper presents way how to use model-based design of this mechatronic system with respect to mechatronic education. The presented mobile platform is used for shifting of a load in defined linear trajectory. Platform speed, maximal weight of the load and capacity of battery are used for the optimal actuator design. The actuator has to be integrated inside platform housing and it is limiting factor for design of this system. Several steps of model-based design are presented with respect of mechatronic approach and these steps are well known for our mechatronic students. The presented approach provides way how to develop such mechatronic system based on the model.

Control Method for Elimination of Self–Excited Oscillations during Turning

The oscillations occurring between the tool and the machined area during the turning process lead to degradation of the machined surface, cause poor geometric accuracy, accelerate tool wear and generate noise. This paper deals with the possibility of elimination of these self-excited oscillations by changing the parameters of the turning process. On the basis of the regenerative principle of self-excited oscillation generation, a computer model of the machining process was developed. Furthermore, a PID controller was proposed to control the compensation of the vibrations and its suitability for elimination of the self-excited oscillations was verified experimentally.

Prediction of Machining Accuracy for Vertical Lathes

This article proposes the methodology allowing a prediction of geometric and working accuracy of large CNC machines tools (MT). The presented approach to behavior predicting is applied to kinematics of vertical lathe with an emphasis on different machining conditions. The resultant deflections of a tool and workpiece (WP) are described within the entire workspace of the machine tool with a simulation of different working conditions, whereby it is possible to effectively use the workspace in terms of working accuracy (WA). The results of the presented methodology can be used for selection of the appropriate type of machine tool and machining technology as early as in the tendering stage. This reduces the time required to select and submit a machine tool quotation. The proposed methodology for predicting the geometry and WA has been verified on a vertical lathe (VL) produced by the company TOSHULIN a.s.

Design of the Controller for Elimination of Self-excited Oscillations

The article deals with design of the controller for elimination of self-excited oscillations during machining. These oscillations are generated between a cutting tool and a work-piece surface and lead to decreased quality of the machined surface as well as decreased geometrical precision. The secondary effect is increased level of noise emissions. In general, the self-excited oscillations negatively affect the working productivity of metal cutting machines and inhibit its growth. The design of the controller is based on a model of the cutting process which works with so-called regenerative principle of the self-excited oscillations generation and is based on the variable chip thickness. The model itself serves to derivation of the controller gains. A piezoelectric compensator of the cutting force is controlled by the designed PSD controller. The compensator changes the position of the tool against the machined surface thereby changing the chip thickness.

Model Based Design of Fuel Pump Control

This paper presents a co-simulation method to design of speed controller for turbojet fuel pump. Expected fuel pump is used for small turbine engine concept with reducer driven by free turbine. The amount of injected fuel into the combustion chamber is based on the speed of the fuel pump which is controlled by the engine control unit. The final flow of fuel into the combustion chamber is restricted by fuel bypass which constricts the return fuel according to pressure in the nozzles. This back fuel bypass has nonlinear and fixed characteristic determined by its structure. The only way how to control the amount of incoming fuel to the engine is the pump speed control. Effect of the bypass represents a variable component in the fuel pump load and from the view of the speed controller it is a disturbance variable. This paper describes the co-simulation model based on the use of MATLAB/Simulink and MSC Adams environment. This simulation uses interconnection of Simulink controller design and simplified model of the fuel pump dynamics in Adams (without hydraulic modelling).