Outlook

As mentioned in Chapter 1, the area ofmechatronic systems comprises several disciplines of engineering sciences. Therefore, it is hardly possible to represent mechatronic systems in a comprehensive context in only one book. Hence, this book is restricted to give, on one side, an overview of some principles and, on the other side, to represent some properties of the static and dynamic behavior of components and some mechatronic products and machines. This is oriented towards the construction (design, simulation, experimental test) of integrated overall systems. The resulting mechatronic overall systems have to be treated in special books, because of the large variety and very special process knowledge. Some of these rather process- oriented areas are, for example:

- mechatronic machine elements (couplings, dampers); - magnetic bearings; - mechatronic hydraulics and pneumatics (fluidtronics); - mechatronic actuators (electromagnets, piezostacks, electro-rheologi-

cal fluids); - robotics (multi-axis, mobile, walking machines); - power electronics and drives; - mechatronic combustion engines; - mechatronic fluid power machines (pumps, compressors, gas

turbines); - mechatronic vehicle components (active brake systems, like ABS,

TCS, ESP, active suspensions, electronic power steering); - mechatronic automobiles (brake-by-wire, steer-by-wire, global

588 Outlook

chassis control, autopilots); - mechatronic production machines (active tools, flexible machine

tools, forming machines, printing machines); - mechatronic precision devices (cameras, disk storages, fax machines,

optical instruments); - mechatronic medical devices (implants, artificial hearts, active shunts,

dialysis machines); - micromechatronic systems (MEMS, sensors, actuators, micromotors).

Throughout the book, only some of these mechatronic components and systems could be described. The above listing shows that some areas have used mechatronic principles for many years, but don't express this explicitly.

A large significance for the design of mechatronic overall systems has, in addition to the hardware integration, the integration through the software for the on-line, real-time information processing tasks like control, supervision, on-line optimization, fault diagnosis and fault-tolerance. These fields are described in other books and are not restricted to mechatronic systems only.

Another supporting technology is the use of computers in the design of mechatronic systems. Here, in addition to the well-known computer-aided constructive design (CAD) techniques, dynamic modeling, simulation and experimental testing is becoming increasingly important. Related tools such as object-oriented modeling software, control prototyping computers and hardware-in-the-loop simulators are presently being developed and increa- singly used in the framework of simultaneous engineering as summarized by the so-called V-model (Figures 12.39 and 12.40).

The development towards the integration of computer-based information processing into the products and their manufacturing comprises large areas of engineering. Therefore, a suitable education in modem engineering and also trade is fundamental for the technological progress, by taking into account multi-disciplinary solutions and method-oriented procedures. The develop- ment of curricula for mechatronics as a proper combination of electrical and mechanical engineering and computer science during the last decade shows this tendency.

Subject Index

Absorber AC Motor 168, 205,273, - control - field oriented control - induction - slip-ring - squirrel-cage - steady state - synchronous AC-DC converter Across-through classification

212,

Across-variable Actuators

- application areas - as system components - auxiliary energy - basic structure - comparison - components - electrochemical - electromagnetic - electromechanical - electrorheological - fault detection - fault-tolerant - functionality - hydraulic - inchworm motor - integration - magnetorheological - magnetostrictive - micro - motor driven - piezoelectric - pneumatic

158 398 209 211 205 208 208 219 215 233

55, 91, 95, 100 36, 54

25, 383 471 474 387 384 471 476 458

527, 529 392, 404

463 480, 527

484 475 406 468 475 463

458, 469 470 392 458 439

- ports 475 - shape memory alloys 458 - structure 384 - thermal expansion 462 - thermo-bimetal 458 - time behavior 389 - unconventional 457 ADC (analog-to-digital converter)

376, 502 Algorithm

- Burg 351 ALU (arithmetic logical unit) 493 Amplitudes

- estimation 351 - modulation 334 - spectrum 334 Analog input - ADC 502 - analog filter 502 - hold element 502 - multiplexor 502 - optoelectronic couplers 504 - potential separation 502 Analog output

- digital converter 504 - potential separation 505 - power amplifier 505 Analog-to-digital converter (ADC) 376 Analogies

- mechanical and electronic systems 94

ANN (artificial neural networks) 309 Apparatus 10 A R M A (autoregressive moving average model 349 -difference equation 349

- static behavior 192 d'Alembert ' s principle 106 Damping ratio 130 Dead-time 300 Dead-zone, see backlash Decaying constant 130 Design - mechatronic systems 24, 527, 588 Defuzzification 323 Degradation - graceful 479 Diesel engines 572 Digital-to-analog converter (DAC) 504 Digital signal processor (DSP) 510 Displays 506 Displacement 53 Distributed parameters 34 DMLP (dynamic multi-layer perceptron) 321 DMA (direct memory access) 511 DRAM (dynamic random access memory) 500 Drivetrain 12, 241 - automotive 279 - belt 151 - dynamic model 278 - model 280 - multi-mass 288 DSP (digital signal processors) 510

EBC (external bus controller) 508 EEPROM (electrically erasable and programmable read only memory) 489 Effort 36 EGR (exhaust gas recirculation)

321,572 Electrical drives 167

- dynamic behavior 188 - induced voltage 186 - speed control 194 - static behavior 192 - position control 194 - torque generation 187 - types 167 Electrical throttle valve 535 Electromechanical disc brake (EMB)

560 Electromagnetic compatibility (EMC)

377 Electromagnets 170, 404

- dynamic behavior 175, 181 - holding magnet 170 - force-generating magnet 170 - linear behavior 170 - position control 181 - positioning magnet 170 - static behavior 173, 177

Subject Index 619

- types 170 Electromotive force (EMF) 187, 210 Electromotor

- alternating current (AC) 168, 205, 398

- externally commutated 234, 398 - commutator 221 - compound 394 - capacitor 222 - direct current (DC) 184 - Ferraris 223 - for actuators 393 - internally commutated 234, 394 - linear model 392, 462 - mechanical-commutated 394 - shunt-wound 394 - self-commutated 394 - series-wound 394 - servo 397 - single-phase 221 - squirrel-cage 222 - synchronous 399, 400 - stepper 201,390, 401 - three-phase capacitor 398 - universal 221,398 Elements

- active 41 - electrical 95 - mechanical 95, 115 - passive 41 - storages 59 Encoder 366 Engine - combustion 262 - Diesel 572 - spark ignition 262 Engineering

- simultaneous 5 Energy

- internal 79 - kinetic 74 - potential 73 Energy balance 48, 71, 85 - electrical systems 83 - gases 79 - mechanical systems 71 - thermal systems 77 - steams 79 Energy flow 38 Enthalpy 81 EPROM(erasable and programmable read only memory) 500 EERPOM (electrically erasable and programmable read only memory) 500 Equations

- balance 47 - constitutive 51

620 Subjec t Index

- ene rgy ba lance 71

- f u n d a m e n t a l 46, 101

- m e s h 88

- m o m e n t u m balance 74

- node 88

- p h e n o m e n o l o g i c a l 68

- phys ica l state 51

Es t ima t ion

- m a x i m u m - e n t r o p y spectral 347

Euler

- dif ferent ia l equa t ion 410

Exi ta t ion

- basic 132

- by unba lance 132

- resonance angu la r 130

- response 296

- u n d a m p e d natura l 130

Fr ic t ion - compensa t ion 288, 455, 528

- C o u l o m b 1 2 1 , 1 5 9 , 245

- dry 1 2 1 , 1 5 9 , 245

- es t imat ion 327

- exper imenta l resul ts 271

- v iscous 1 2 1 , 1 5 9 , 2 4 5 , 3 2 7

Func t ions 11, 12

- Gauss ian 314

Fuzzy

- control 290

- i f - then-rules 323

Fail - logic 24, 324

- opera t iona l (FO) 479 - rules 323

- safe (FS) 479 Fuzzyf i ca t ion 323

- si lent (FSIL) 479 Fai lure 476 Gas dynamic proper t ies 442

Faul t 476 Gas law 443

Faul t de tec t ion Gauss ian funct ions 314

- ac tuator 480, 533 Gear 143, 401

- sensor 480 Gyra to r 64

Faul t d iagnos is 2 1 , 5 3 5 , 538 Faul t - to le rance H a c k s a w i n g m a c h i n e 352

- actuators 481 H a m m e r s t e i n m o d e l 208

- c o m p o n e n t s 476 H a n n i n g - w i n d o w 346

- control sys tems 480 Hal l effect 367

- sensors 484 Hardware -a rch i t ec tu re 26

Feed drive 268 Hardware - in - the - loop s imula t ion (HiL)

Feedback 255 569

Field bus 514 Harva rd s tructure 491

- C A N bus 523 H i n g i n g hype rp lane trees 316

- func t ions 517 H u m a n - m a c h i n e in ter face 26

- net topo log ies 515 Hydrau l i c

- OSI re fe rence m o d e l 517 - ac tuator 406

- P R O F I B U S 519 - control va lve 414

Field w e a k e n i n g 194 - cy l inder 422

F low 36, 51 - losses 427

- energy 56 - pressure s torages 419

- heat 57 - p u m p 424

- l aminar 410 - ro tary m o t o r 423

- ma in 8, 38 - servo axis 429

- mass 57 - t rans la tory m o t o r 420

- side 8, 38 - t r ansmiss ion line 418

- tu rbu len t 410 Hysteres is

Flu id d y n a m i c proper t ies 408 - so lenoid 531

Force - appl ied 107 Ident i f ica t ion 30, 293

Four ier - appl ica t ion 299

- analysis 340 - bandpass f i l ter ing 339

- fast (FFT) 343 - corre la t ion func t ions 340

- t r ans fo rma t ion 341 - c losed- loop 299

F requency - d y n a m i c sys tems 293

- d a mp e d na tura l 130 - Four ie r analys is 340

- m o d u l a t i o n 335 - osci l la t ions 333

- quarter-car model 551 - spectral estimation 347 Identification methods 293 - classification 294 - least squares 300 - modifications 303 - non-linear processes 308 - recursive 303 Indicator diagram 308 Industrial robot 577 - control 583 - modeling 578 - system structure 585 Information

- gaining 19 - flow 3 - processing 14, 18 Integration form 14

Interface - to process 501 Interpolation 326

Kinematics 101 Kinetics 102 Kirchhoff laws 89

Lagrange ' s equations 109 Least squares method 300 Libration 337 LRGF (locally recurrent globally feedforward networks) 319 L O L I M O T (local linear model network) 314 Look-up table 325 LRGF (locally recurrent globally feedforward) 319 Lumped parameters 34

Machines 2, 6, 8, 115, 241 - characteristics 248 - components 243 - power-generating 241 - power-consuming 241 - static behavior 257 - dynamic behavior 268 Machine elements 8 Magnetic circuits - dynamic behavior 175 - static behavior 173 Magnetic field 171 Magnetic flux 172 Magnetic flux linkage 174 Main flow 8, 38

Mass - mobile 101 Mass flow balance 47 Matter

Subject Index 621

- flow 8, 38 - forms 37 Maximum-entropy-spectral estimation

347

Measurement - acceleration 370 - displacement 364 - force 372 - oscillation 372 - pressure 372 - strain gauge 366 - torque 373 - temperature 373 - velocity 368 - vibration 372 Mechanical elements 115

- bars 116 - bearings 124 - springs 118 - dampers 121 Mechanical engineering 8 Mechanical systems 8

- backlash 162 - classification 7 - friction 159 - mobile masses 101 Mechatronic Systems 1

- components 481 - confinement 10 - definitions 4, 11 - design 11, 24, 527 - developments 14 - functions 11, 13 - historical developments 2 - integration forms 14 - intelligent 6 - operation properties 13 - overall 587 Memory 497 - capacity 497 - cycle time 497 Mesh equation 88 Methods 20 - bond graph 56 - simulation 569 Microactuator 470 Microcomputer 489 - memory 497 - processor 490 - structure 489 Microcontrollers 506 - architecture 507 - software 510 Microelectronics - development 487 Micromechanics 9 Micromechanical systems (MEMS) 588

622 Subject Index

Microprocessors - characteristic value 496 - digital signal (DSP) 510 - software - standard 490 Misfire detection 353 MLP (multi-layer perceptron) 311 MMU (memory management unit) 494 Modeling

- experimental 34 - object-oriented 588 - theoretical 33 Model - adjustment 296 - bond-graph 36 - brake 564 - dynamic 549 - fuzzy-logic 323 - Hammerstein 308 - neuron 311 - non-linear 308 - non-parametric 295 - parametric 297, 327 - quarter-car 551 - reference method 297 - Volterra 309 Modulation - amplitude 334 - frequency 335 - phase 335 Momentum 53

- angular 105 - balance equation 74 - flow 85 MOS (metal oxide semiconductor) 498 MOSFET (metal oxide field effect transistors) 226

Navier-Stokes equation 409 Neural networks 324 - artificial 309 Neuron model 310 Net - topology 515 Network

- dynamic systems 318 - local linear model (LOLOMOT) 314 - LRGF 319 - multi-layer perceptron (MLP) 311 - neural 324 - radial basis function (RBF) 313 - static systems 309 Newton ' s Laws

- kinetics 102 - rotational motion 103 - second law of momentum 74 - translational motion 102

Node equation 88 Non-linearity - compensation 527 N V R A M (non-volatile random access

memory) 501

Ohm's law 68 - magnetic circuit 174 One-port element 52 Operating point - dependency 283 Oscillation - harmonic 333 - superposition 334 Oscillator 128, 134 - absorbers 158 - belt drives 151 - dampers 158 - harmonic 333 - identification 333 ,339 - longitudinal 128 - multi-mass 134 - one-mass 128 - power transmission 146 - single 334 - superposition 334 - torsional 133, 134, 140, 142 OSI-reference model 517

Parameter estimation 299, 303 - continuous time signals 303 - discrete time signals 299 - least squares 300 - recursive 303

- t ime-varying 307 Parity equation 537 PGA (pin grid arrays) 495 Pneumatic

- actuator 437 - cylinder 441 ,454 - nozzle 447 - rotary motor 442 - servo axis 452 - storage 448 - translatory motors 452 - transmission online 449 - valve 440, 445 ,456 Potential 51 Power - circuits 226 - component parts 225 - transmission 146 - variables 52, 54 Power electronics 225 - converter 226 PRBS (pseudo-random-binary signal)

298

Precision mechanics 9 Principle of mechanics 106 - d 'Alember t 106 - Lagrange 109 Process - non-linear 308 - static 316 Process elements

- causality 91 - classification 37 - connection 88 - displacement 53 - lumped parameters 40 - momentum 53 - distributed parameters 46 Process engineering 10 Processors - application-specific 512 - signal 510 PROFIBUS 519 PROM (programmable ROM) 500

RAM (random access memory) 498 RBF(Radial basis function) 313 Redundancy - analytical 482 - dynamic 478 - static 477 Requirements engineering 25 Reynolds number 411 Robot - control 589 - industrial 577 ROM (read only memory) 498

Sensor 359 - acceleration 370 - analog-to-digital conversion 376 - classification 360 - displacement 364 - electrodynamic 368 - encoders 366 - fault detection 480 - fault-tolerant 481 - force 372 - Hall effect 367 - incremental inductive 368 - integrated 378 - intelligent 378 - measuring amplifiers 363 - measurements 364, 370, 372, 373 - pressure 372 - properties 362 - resistive 364 - strain gauge 366 - temperature 373 - torque 373

Subject Index 623

- transducers 363 - types 363 - velocity 368 Servo axis - hydraulic 452 - pneumatic 452 Side flow 38

Signal - preprocessing 19 - processors 510 Simulation 559 - hardware-in-the-loop 569,572 - methods 569 Sink 41, 69 SMD (surface-mounted devices) 495 Soft computing 24 Sources 40, 57 - current 59 - potential 57 Spectral estimation 347 Spring 118 - gas 118, 119 - helical 119 - metal 118 - rubber 118 Spring-damper system 119 - Coulomb-model 122 - Kelvin-Voigt model 119, 122 - Maxwell-model 122 Spring-mass system 76 SRAM (static random access memory)

500

Stability - machine 251 State-space representation 130 State-variable filter (SVP) 305 Stepper motor 201 Stiction 159 Stiffness 117 Storage 59 Strain gauge measurement 366 Stribeck characteristic 160 Supervision 21 Suspensions - active 542 - adaptive 554 - control 554 - passive vehicle 538 - semi-active 543 Synergy 27 Systems 33 - adaptive 21 - autonomous 1 - bus 487 - electronic 1 - expert 23 - free 6

624 Subject Index

functionsfuzzy-logic

- intelligent- intelligent mechatronic- joint

limitation- mechanical- mechatronic- multi -level control- spring -damper--,- spring-mass-damper- thermal- time-varying

Test signalsThermodynamics

first lawThrottle valve- electricalThrough variableThyristorTime constant- machineTorsion- bar- stiffnessTransducerTransformerTransistor- MOSTransmissionTruck'- drivetrain- simulationTwo-port element

Universal motor

13323,324

1,2256

111,2,6

118

12212877

306

298

79535535

36,54225

255

116118363

40, 62

498146

282575

3,52

221

Vehicle- brake 560- quarter car 551- suspension, see also suspension 558Vibrations, see oscillationsVisco clutch 151V-model 29,569,588Volterra model 209VTG (variable nozzle turbocharger)

321,572

Wheel moduleWindowing functionWork

displacementmechanicalusablevirtual

562346

807981

107, 110