Download Intelligent Mechatronic Systems: Modeling, Control and by Rochdi Merzouki;Arun Kumar Samantaray;Pushparaj Mani PDF

By Rochdi Merzouki;Arun Kumar Samantaray;Pushparaj Mani Pathak;Belkacem Ould Bouamama

Acting as a aid source for practitioners and execs seeking to develop their realizing of advanced mechatronic platforms, Intelligent Mechatronic Systems explains their layout and up to date advancements from first ideas to sensible functions. distinct descriptions of the mathematical versions of advanced mechatronic platforms, constructed from primary actual relationships, are outfitted directly to boost cutting edge options with specific emphasis on actual model-based keep watch over strategies.

Following a concurrent engineering method, supported through business case reviews, and drawing at the functional adventure of the authors, Intelligent Mechatronic Systems covers variety of subject and includes:

an evidence of a standard graphical instrument for built-in layout and its makes use of from modeling and simulation to the regulate synthesis

Introductions to key strategies reminiscent of diverse technique of reaching fault tolerance, powerful overwhelming regulate and strength and impedance control

Dedicated chapters for complicated themes similar to multibody dynamics and micro-electromechanical platforms, car mechatronic platforms, robotic kinematics and dynamics, area robotics and clever transportation systems

Detailed dialogue of cooperative environments and reconfigurable systems

Intelligent Mechatronic Systems presents keep an eye on, electric and mechanical engineers and researchers in business automation with a way to layout useful, practical and secure clever systems.

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Additional resources for Intelligent Mechatronic Systems: Modeling, Control and Diagnosis

Example text

They denote point-to-point connections between submodel ports. The bond transfers power as product of two generic power variables. 2 Power as a Unified Coordinate System In bond graph theory, bonds (or power bonds) represent power (consequently energy) exchange between connected multiports. g. g. ) referred to as generalized flow ( f ). The positive sense of power flow is represented by the half arrow on the bond. , either both are positive or both are negative; otherwise, the energy transfer is in the opposite direction to the assigned power direction.

1 A bond graph is a collection of multiport elements connected together. In the general sense, it is a linear graph whose nodes are multiport elements and whose branches are bonds. The key feature of bond graph modeling is the representation (by a bond) of exchanged power as the product of generalized efforts (e) and generalized flows ( f ) with elements acting between these variables and junction structures (algebraic constraints) to reproduce the global model as interconnected subsystems. The power variables are the generalized flow and the generalized effort variables as developed below.

For representation purposes, the effort variable may be placed on one side of the bond and the flow variable on the other side, although such placements are not necessary in many cases except for the purpose of explanation. The assumed direction of the power exchange (flow) is represented by the half arrow on the bond as shown in Fig. 2b and it is formally called power direction. It may be noted here that the power direction is only a reference (like a coordinate system) and it does not mean that the power will actually flow in the assumed direction.

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