Joachim Lückel

Generalization of the cascade principle in view of a structured form of mechatronic systems

With the steady increase in microcontroller performance, mechatronic systems have become more and more complex. This requires new organizational structures both in system design and in controller structure. For system design, a practical way of structuring mechanical systems vertically and horizontally has already been presented in a number of papers. This structure has to be reflected in the controller as well. The aim of this paper is to adapt and combine well-known controller design techniques to make up a new and well-structured way of controller design tailored to the organizational structure of mechatronic design. After a brief overview of the mechatronic design structure, this new controller design technique will be presented on the basis of the cascade structure of SISO controllers and the centralized controllers with state-vector feedback. For an example, the controller of a new modular railway system is presented, with special emphasis on the active suspension/tilt system.

Mechatronic design of a modular railway carriage

The mechatronic design methodology allows to efficiently design highly complex technical systems. The modular railway system presented here is driven by a linear drive, with an active suspension/tilt system being employed to enhance ride comfort. The two modules, along with their mechanics, sensors, actuators and digital signal processing, make up intelligent mechatronic function modules. They are part of an autonomous mechatronic system, the railway vehicle.

CACE tool for multi-input, multi-output systems using a new vector optimization method

A design environment specially tailored to problems in control engineering is presented. It contains, apart from plant models and operating environments, the formulation of the experimental environment. Linear controllers of any desired structure are designed with the aid of the characteristic variables of the experiments, using a vector optimization procedure in an interactive design process. The hierarchical description of the model, based on an interpreter solution, was realized in the ADA programming language. A complex problem in controller design, taken from the field of vehicle suspension, proves the efficiency and performance of the design tool.

Tool Integration by Way of a C omputer- A ided M echatronic L aboratory (CaMeL)

Abstract Due to the ever increasing efficiency of computers (hardware and software), it is now possible to represent a near lifelike model of the engineers working environment in the computer. Apart from the hierarchical structuring of mechatronic systems the software components dealing with the graphical, symbolic, and numerical representations of these models are organized on different levels The image of a mechatronics laboratory serves as an object-oriented representation of hierarchically organized objects, such as projects, experiments, systems, and devices A development framework for the integration of existing software (components developed at our institute as well as selected external programs) is suggested using modern software techniques such as the Ada®-Task concept and the object-oriented approach The demands are listed and the structures of the so called Computer-Aided Mechatronic Laboratory (CAMeL) are represented. By way of an example of a parameter-optimization experiment built up by different devices, the possibility of parallel operations of individual lab devices on suitable hardware isexplained

An active suspension/tilt system for a mechatronic railway carriage

Abstract This contribution presents the mechatronic design of a technically complex suspension/tilt module. This suspension/tilt module is to be implemented in a fully active railway carriage developed by the Neue Bahntechnik Paderborn (NBP, Novel Railway System Paderborn) research team. An active suspension system yields a comfortable suspension of the carriage body and a reduced sensibility to track irregularities. The tilting device allows higher cornering safety while ensuring the same ride comfort. Modelling and controller designs are the focus of this work. A presentation of the real-time realization of this module and an assessment of ride comfort based on measured results round off the paper.

Development of an Active Suspension/Tilt System for a Mechatronic Railway Carriage

Abstract This contribution presents an active suspension/tilt module designed by the MLaP for a mechatronic, modular railway carriage in the context of the project Neue Bahntechnik Paderborn (NBP, Novel Railway System Paderborn). The development of such a modern technical system requires interdisciplinary design processes - that is, mechatronics. The suspension/tilt module is treated here according to the design cycle for mechatronic systems, from modelling to synthesis to real-time realization, with the actuator and sensor systems and digital signal processing being dealt with along the way. An overview of the testbed technology applied to the module will round off the paper.

Entwurfswerkzeuge der Mechatronik

Die technischen Anforderungen z.B. an Systeme der Verkehrs- bzw. Fahrzeugtechnik oder der Fertigungs- bzw. Robotertechnik sind in den letzten Jahren standig gestiegen. Ein Grund dafur mus in der harten Konkurrenzsituation gesehen werden, in der sich ein moderner Industriestaat standig bewahren mus. Das verlangt hohe Flexibilitat, damit schnelle und umfassende Anpassung an neue Randbedingungen und eine moglichst optimale Auslegung des Gesamtsystemverhaltens. Daraus ergibt sich automatisch eine Steigerung der Systemkomplexitat und der Zwang, neue Hilfsmittel zur Entwicklung und Realisierung einzusetzen. Hier spielt die Mikroelektronik eine zentrale Rolle, sowohl zu Unterstutzung des eigentlichen Produktentwicklungs- vorgangs wie auch als aktives Element zur Verbesserung des Systemverhaltens (z.B. als digitaler Steuerungs- und Regelungsbaustein). Damit folgt auch fur den Maschinenbau die Notwendigkeit, in ganzheitlichen Vorstellungen fachubergreifend zu arbeiten. Die Mechatronik stellt dabei ein typisches Beispiel dar. An Hand von drei Beispielen, die bei Forschungsprojekten der Paderborner Automatisierungstechnik entstanden sind, wird die Entwicklung eines rechnerunterstutzten Mechatroniklabors mit den Schwerpunkten Modellerzeugung, Reglerentwurf und -realisierung beschrieben. Besondere Aufmerksamkeit findet dabei die Anwendung moderner Software Engineering Techniken, die es moglich machen, mit Hilfe der Entwurfswerkzeuge eine Bruckenfunktion zwischen Theorie und Praxis des Ingenieurs wahrzunehmen.

Computer-Aided Design of Mechatronic Systems, Exemplified by the Integrated Wheel Suspension of an Innovative Service Vehicle

Abstract Increasing complexity has made it impossible to design mechatronic systems according to the conventional trial-and-error method that is still widely employed. Instead, the focus has shifted to an integrated computer-aided design. The present contribution aims at giving you an insight into the computer-aided, holistic development of such mechatronic systems exemplified by the active wheel suspension of an innovative service vehicle. The vehicle was jointly designed as a virtual prototype by three university research groups, the MLaP and the HNI of the University of Paderborn as well as the DiK of the Darmstadt University of Technology.

Design of a Railway Carriage, Driven by a Linear Motor with Active Suspension/Tilt Module

Abstract This paper presents the design of a railway carriage whose drive is realized by a linear motor. An integrated suspension/tilt module makes possible increased ride comfort and cornering speed in comparison to existing systems.

Iterative model-based design of the parallel robot, TRIPLANAR

The TRIPLANAR is a novel parallel robot with six degrees of freedom for highly precise measurement- and process tasks. Its prototype was developed in just 12 months by means of the mechatronic composition. This design methodology comprises analysis and synthesis of the entire system, including mechanics, actuator system, and information processing in the computer before the constructive design is started. The information processing was designed by means of a simplified model and tested with a complex model. An experimental modal analysis of the real system served to identify the parameters of the complex model. In order to increase the limited motive forces of the TRLPLANAR novel drives, asynchronous planar motors are being developed.