Rapid prototyping of real-time control laws for complex mechatronic systems: a case study

Deppe, M.; Zanella, Mauro; Robrecht, M.; Hardt, Wolf‐Dietrich

doi:10.1016/s0164-1212(03)00073-6

Cited by 16 publications

(9 citation statements)

References 14 publications

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“…However, sometimes the reverse situation occurs when plant model is substituted for the actual plant while the controller might be fully implemented. This approach is called Rapid Controller Prototyping (RCP) simulation [9][10][11]. For this technique, engineers have actuators, sensors and other physical components interfacing with real-time simulation.…”

Section: Experimental Validation and Hardware Implementation Of Designsmentioning

confidence: 99%

Integrated Mechatronic Design for Servo Mechanical Systems

Chen¹,

Chen²,

Cheng³

2011

Advances in Mechatronics

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Section: Experimental Validation and Hardware Implementation Of Designsmentioning

confidence: 99%

Integrated Mechatronic Design for Servo Mechanical Systems

Chen¹,

Chen²,

Cheng³

2011

Advances in Mechatronics

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“…(9) equals zero, the Lagrange's equation can be re-formulated as Eq. (16). From this equation, the dynamic behavior for this legged MT can be also reduced to a simple equation.…”

Section: Complete Force Balancingmentioning

confidence: 99%

“…Because a repetitive operation on the same work is inherent when designing a control system, conventional handwork programming is inefficient when paired with increased pressure for reducing product time-to-market. Rather than conventional low-level programming languages, graphical model-based programming has been increasingly used for real-time simulations, and "hardware-in-the-loop" (HIL) applications have been utilized to obtain rapid prototyping of various electrical and mechanical systems [14][15][16]. Compared with handwork programming, the most significant benefit of cuttingedge control applications is the automatic generation of program codes through a user-friendly graphic interface, which decreases the time required for system development.…”

Section: Experimentation Using Rapid Control Prototypingmentioning

confidence: 99%

Integrated design of legged mechatronic system

Chen

Cheng

2009

Front. Mech. Eng. China

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This paper presents a system based on the integrated design and experiment for a one degree-offreedom (DOF) legged mechatronic system (LMTS). A six-bar linkage mechanism, which is derived from a fourbar linkage with a symmetrical coupler point and pantograph into one, is designed, and common controllers are used to control the velocity and position loops.For system-based dynamic optimization, the design for control (DFC) approach is used to integrate the structure and control for improving dynamic performance with reduced control torque.Finally, for a rapid 3D graphical based implementation of the system, high-level computer-aided rapid system integration (CARSI) technology is used to integrate the structure design, controller design, and system implementation into the design and analytical software environment based on Pro/engineer, XML syntax, Simmechanics, and Simulink. Thus, the development time for the LMTS is reduced.

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“…The existing tools and approaches for HIL/SIL simulation, also called virtual commissioning [8,20,21], do not consider the integration of their models and methods into the broader context of system development. This greatly enhances the effort of their application and produces redundancies in the project data.…”

Section: Related Workmentioning

confidence: 99%

Integrated behavior models for factory automation systems

Botaschanjan

Hummel

Hensel

et al. 2009

2009 IEEE Conference on Emerging Technologies &Amp; Factory Automation

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Despite the large amount of models for different aspects of factory automation systems, many of these models target at individual and in most cases static aspects of the system, such as the geometry or its electric parts. There is a lack of suitable description methods, which integrate these individual models to a behavior model including spatial aspects and the handling of material. Furthermore, it is important that this model keeps the link to the more detailed individual models and is sufficiently formal in order to allow an automated analysis. This paper provides a solution to this problem by introducing a model which addresses both spatial structure and behavior and is based on a thorough mathematical theory. Complementary, we report on a tool realization of the modelling theory and explain how the model supports the development of mechatronic systems.

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Rapid prototyping of real-time control laws for complex mechatronic systems: a case study

Cited by 16 publications

References 14 publications

Integrated Mechatronic Design for Servo Mechanical Systems

Integrated Mechatronic Design for Servo Mechanical Systems

Integrated design of legged mechatronic system

Integrated behavior models for factory automation systems

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