Tomas Brezina

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.

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.

Design of Fuzzy Logic Controller for DC Motor

This contribution presents a simple and efficient approach to the fuzzy logic controller design and simulation. The proposed controller uses a Sugeno type fuzzy inference system (FIS) which is derived from discrete position state-space controller with an input integrator. The controller design method is based on anfis (adaptive neuro-fuzzy inference system) training routine. It utilizes a combination of the least-squares method and the backpropagation gradient descent method for training FIS membership function parameters to emulate a given training data set. The proposed fuzzy logic controller is used for the position control of a linear actuator which is a part of a Stewart platform.

Design of optimal parameter values of mechatronic system with flexible bodies using a block model

The estimation of optimal values of a model parameters has an important role in early stages of V-cycle based mechatronic design of a system. Utilization of a model with flexible bodies in the objective function of the optimization procedure leads due to its high order to the lengthy or unfeasible optimization calculations. It is presented an utilization of a linear time invariant model (state-space LTI) of a system with flexible bodies represented by a block model which overcomes the mentioned difficulties. The model consists of two blocks - a) block containing mainly state-space LTI of flexible bodies which does not depend on values of searched parameters and b) block which depends on them. This allows clear and effective representation of the problem, its efficient implementation and, consequently, finding the optimal values of the required basic parameters. The formulation of the task will be demonstrated on three studies. The first one deals with the location of optimal values of design parameters of absorber connected to the flexible cantilever, the second one deals with vibration energy harvesting device and the last one with damping of heavy machine tool long axis.

Modeling and control of system with pump and pipeline by pole placement method

The present paper deals with control of system consists surge tank, pump a and pipeline. Model of this system is based on hydro-electrical analogy. For purpose of control it is designed a regulator with estimator. Regulator is developed by pole-placement method. Numerical solutions of this model are presented at the end of this article.

Modeling and Control of Three-Phase Rectifier of Swirl Turbine

The paper deals with a three-phase rectifier controller design for monobloc configuration of a small Swirl turbine. The aim is phasing of the system to electrical power network. A cascade controller was used for the control: lower loop provides a current control and upper loop a voltage control. Symmetric optimum method and robust loop shaping control synthesis are employed for the controller design. Results are verified and compared by simulations applying original three-phase rectifier model taking into account high level of disturbances. Resulting system meets with reserve desired behavior.

Initial assessment of multi-mass absorber influence on machine tool vibrations

The paper presents approach to suppress machine tool vibrations which occur during machining process. The approach is based on multi-body model of a machine tool with flexible bodies in linear state-space form with added structure representing the absorber. Such a structure of the model significantly decreases the computational time and makes possible to optimize parameters of the absorber efficiently. There were analyzed two arrangements of multi-mass absorbers – parallel and serial with two types of optimization objective function. The first one that leads to a reduction of the maximum resonant amplitude and the second one reduces the maximum real part of the eigenvalues of the machine.

Multibody model of Heavy Machine Tool

This paper deals with the simulation assessment of axis X damping possibilities of Heavy Machine Tools. CAD models have been provided by The TOSHULIN Company. The paper describes modelling of the axis X as the multibody system. It consists of rigid and flexible bodies. The main goal of this paper is to create a simplified model and get the information for a strategic decision of manufacturers about damping possibilities of the axis X. Several software products were used in this case, such as SolidWorks for providing CAD models, Ansys, MSC. Adams and Matlab/Simulink. The multibody model of the axis X with the flexible bodies is presented and the state space models are created.

Modeling and control of three-phase inverter of swirl turbine

This paper deals with a three-phase inverter controller design for monobloc configuration of small swirl turbine. The aim is an phasing of the system to grid. A simulation design is described which leads to cascade controller with simple structure: lower loop is used for amplitude control and upper loop for phase control. First the highly nonlinear detailed three-phase inverter with switching components and diodes is modeled. Then based on RMS measurement a compensated LTI model is extracted which is used by H-infinity loop-shaping controller synthesis for both controllers design. Lastly design results are verified by simulations applying original three-phase inverter model taking into account high level of disturbances. Resulting system meets with reserve desired behaviour.