Page 36 - The Mechatronics Handbook

TABLE 2.3 Steps in the Design of Mechatronic Systems
Precision Mechanical
Mechanics Elements Machines

Pure mechanical system

1. Addition of sensors, actuators,
microelectronics, control
functions
2. Integration of components
(hardware integration)
3. Integration by information
processing (software
integration)
4. Redesign of mechanical
system

5. Creation of synergetic
effects

Fully integrated mechatronic
systems

Examples Sensors Suspensio ns Electric drives
actuators damper s combustion
disc-storages clut ches engines
cameras gears brakes mach. tools
robots
The size of a circle indicates the present intensity of the respective mechatronic devel-
opment step: large, medium, little.

equations, algebraic equations, and discontinuities. A recent description of the state of computer-aided
control system design can be found in [34]. For system simulation (and controller design), a variety of
program systems exist, like ACSL, SIMPACK, MATLAB/SIMULINK, and MATRIX-X. These simulation
techniques are valuable tools for design, as they allow the designer to study the interaction of components
and the variations of design parameters before manufacturing. They are, in general, not suitable for real-
time simulation.

Modeling Procedure
Mathematical process models for static and dynamic behavior are required for various steps in the design
of mechatronic systems, such as simulation, control design, and reconstruction of variables. Two ways
to obtain these models are theoretical modeling based on first (physical) principles and experimental
modeling (identification) with measured input and output variables. A basic problem of theoretical
modeling of mechatronic systems is that the components originate from different domains. There exists
a well-developed domain specific knowledge for the modeling of electrical circuits, multibody mechanical
systems, or hydraulic systems, and corresponding software packages. However, a computer-assisted general
methodology for the modeling and simulation of components from different domains is still missing [35].
The basic principles of theoretical modeling for system with energy flow are known and can be unified
for components from different domains as electrical, mechanical, and thermal (see [36–41]). The mod-
eling methodology becomes more involved if material flows are incorporated as for fluidics, thermody-
namics, and chemical processes.

©2002 CRC Press LLC