Intelligent Mechatronic Systems: Modeling, Control and Diagnosis

943 Pages·2013·2.15 MB·English

by  Rochdi Merzouki

Intelligent Mechatronic Systems
Rochdi Merzouki Arun Kumar Samantaray
•
Pushparaj Mani Pathak
•
Belkacem Ould Bouamama
Intelligent Mechatronic
Systems
Modeling, Control and Diagnosis
123
Rochdi Merzouki Pushparaj ManiPathak
Ecole Polytechniquede Lille Department of Mechanical andIndustrial
Université des Sciences etTechnologies Engineering
de Lille(USTL) Indian Instituteof Technology
VilleneuveD’Ascq CX Roorkee
France India
ArunKumar Samantaray Belkacem OuldBouamama
Department of Mechanical Engineering Ecole Polytechniquede Lille
Indian Instituteof Technology Université des Sciences etTechnologies
Kharagpur de Lille(USTL)
India VilleneuveD’Ascq CX
France
ISBN 978-1-4471-4627-8 ISBN 978-1-4471-4628-5 (eBook)
DOI 10.1007/978-1-4471-4628-5
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Preface
Mechatronics systems are, inherently, multidisciplinary. These systems are com-
posed of interacting subsystems or parts from different engineering disciplines
requiring an integration of mechanical engineering, electrical engineering, elec-
tronics engineering, and control engineering. The interactions between different
subsystems of a process are often very complex. Therefore, a concurrent design
approach is needed for analysis of such systems. Moreover, design of proper
control laws almost always requires a well-developed system model.
Various books have been written so far to address the above-mentioned issues
in mechatronic system design. Most of these books use abstract mathematical
models instead of a structured representation suitable for multidisciplinary sys-
tems. However, inouropinion, thechoice ofapropermodeling method, which is
suitable for the analysis of the multidisciplinary system’s behavior, control syn-
thesis and at the same time, clearly exposes the interplay between various sub-
systems, is very important because it can greatly reduce the mechatronic system
development time. This is the reason for using bond graph models in this book.
Bond graphs were introduced as early as 1959 by Professor Henry Paynter of
the Massachusetts Institute of Technology, Cambridge, USA. Since then, appli-
cationofbondgraphstovariousdomainshasseenrapidgrowth.Bondgraph(BG)
modelinghasalsobeensuccessfullyappliedtomodelvariousengineeringsystems.
Furthermore, BG-based techniques have been developed for the analysis of
structuralcontrol properties,sensorplacements,fault diagnosis, systeminversion,
input–outputdecoupling,systemidentification,parameterestimation,modelorder
reduction, robustness studies, and actuator sizing; to name a few. These recent
developmentsinthefieldofsystemsandcontrolengineeringhavebeenintegrated
in this book to embed machine intelligence into mechatronic systems.
Oneaimofthisbookistopresentthein-depthstateoftheartofapplicationsof
bond graph modeling to mechatronics systems. This book arose from our indi-
vidual experiences in research and in teaching spanning more than two decades.
vii
viii Preface
During ourprofessionallives we havehadthe opportunities tointeract personally
with many leading personalities who have made significant contributions to the
fields covered in this book. Consequently, those interactions have shaped our
research directions and motivated us to write this book.
From our teaching experiences as well as those of our colleagues, we
understand that bond graph-based teachings of physical system modeling and
model-based control are well appreciated by student communities because the
methodologies are graphical, follow step-by-step approach to model building and
more importantly, retain close relationship to the physical system so that mathe-
matical complexities do not obscure the ability to analyze and reason intuitively.
This book is written for the student and researchcommunities who are concerned
with the mechatronic systems and control field.
This book is a result of collaboration between a few Indian and French
researchers. Individual chapters are either written by single researcher or two
researchers. The first eight chapters of this book deal with general topics whereas
the last six chapters deal with specialized applications. Chapter 1 written by
Pathak introduces general concepts in mechatronics. Chapter 2 written by Ould
BouamamaandSamantaraybuildsthefoundationofthisbook.Itintroducesbond
graphmodelingtoolformulti-energydomainsystemmodeling.Chapter 3written
by Pathak and Samantaray, deals with modeling of sensors, actuators, and elec-
tronic circuits. Chapter 4 written by Samantaray discusses physical model-based
control. Chapter 5 authored by Samantaray deals with modeling of various
mechanical (rigid and flexible body) systems and micro-electro-mechanical sys-
tems (MEMS). Chapter 6, again written by Samantaray, exclusively discusses
modeling of vehicle mechatronic systems. Ould Bouamama and Samantaray
introducemodel-basedfaultdiagnosisapproachintheChap. 7.Chapter 8,written
byPathak,givesintroductiontoroboticmanipulators.Pathakthendiscussesrobust
overwhelming control and impedance control in Chap. 9 and applies those to
space robots in Chap. 10. Merzouki introduces the concept of intelligent trans-
portation systems in Chap. 11 where model-based control and diagnosis has been
integrated in real-life applications. In Chap. 12, Merzouki discusses telediagnosis
applications. Finally, in Chap. 13, Samantaray discusses a vehicle simulator
system as a virtual reality application.
Compilation of this book has been coordinated by Samantaray. He thanks his
coauthorsandresearchstudentsforextendingallthesupportheneeded.Samantaray
especiallythankshisex-studentsDr.TarunKumarBeraandDr.P.Vijayforhelping
with the content and figures. Pathak thanks his masters students Balkrishna
V.Jagdale,PushpendraKumar,JatinMania,RishikeshRathee,GaneshKumarK.,
Rohit Khandekar, Sonam and Ph.D. students Amit Kumar, V. L. Krishnan,
Preface ix
HareshPatolia,MihirSutar,andMehulGorfortheirhelpindrawingthefiguresand
proofreadingofthemanuscript.Wealsothankfullyacknowledgethecriticalinputs
from Professors R. Bhattacharyya, A. Mukherjee, and R. Karmakar of IIT
Kharagpur.
Kharagpur, July 2012 Arun Kumar Samantaray
Roorkee Pushparaj Mani Pathak
Lille Rochdi Merzouki
Belkacem Ould Bouamama
Contents
Part I Theory
1 Elements of Mechatronic Systems. . . . . . . . . . . . . . . . . . . . . . . . 3
1.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2 Actuators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.3 Sensors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.4 Input Signal Conditioning and Interfacing. . . . . . . . . . . . . . . 5
1.5 Digital Control Architecture. . . . . . . . . . . . . . . . . . . . . . . . . 5
1.6 Output Signal Conditioning and Interfacing. . . . . . . . . . . . . . 6
1.7 Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.8 Intelligent System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.9 Reconfigurable Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.10 Autonomous Supervisory Control. . . . . . . . . . . . . . . . . . . . . 7
1.11 Artificial Intelligence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.12 Knowledgebase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.13 Decision Support System. . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.14 Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.15 Fault, Failure, and Safety . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.16 Fault Tolerance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.17 Examples of Mechatronic Systems. . . . . . . . . . . . . . . . . . . . 11
1.17.1 A Copy Machine . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.17.2 Walking Robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.18 Why Mechatronics System Simulation?. . . . . . . . . . . . . . . . . 13
1.19 Future of Mechatronics. . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2 Bond Graph Modeling of Mechatronic Systems. . . . . . . . . . . . . . 15
2.1 Why Bond Graph for Mechatronics?. . . . . . . . . . . . . . . . . . . 15
2.2 Bond Graph for Modeling, Control, and Diagnosis. . . . . . . . . 16
2.3 Bond Graph Modeling Theory. . . . . . . . . . . . . . . . . . . . . . . 17
2.3.1 Concepts and Definitions. . . . . . . . . . . . . . . . . . . . . 17
xi
xii Contents
2.3.2 Power as a Unified Coordinate System. . . . . . . . . . . 18
2.3.3 Power Variables. . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.3.4 Energy Variables . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.3.5 Pseudo Bond Graph . . . . . . . . . . . . . . . . . . . . . . . . 21
2.3.6 Analogy of Energy Variables. . . . . . . . . . . . . . . . . . 23
2.4 Bond Graph Elements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.4.1 One-Port Passive Elements . . . . . . . . . . . . . . . . . . . 25
2.4.2 Active Elements. . . . . . . . . . . . . . . . . . . . . . . . . . . 31
2.4.3 Junctions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2.4.4 Two-Port Elements: Transformer and Gyrator . . . . . . 34
2.4.5 Information Bond. . . . . . . . . . . . . . . . . . . . . . . . . . 37
2.5 Causality. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
2.5.1 Sequential Causality Assignment
Procedure (SCAP) . . . . . . . . . . . . . . . . . . . . . . . . . 44
2.5.2 Derivative Causality and Its Implications . . . . . . . . . 46
2.5.3 Bicausal Bond Graphs. . . . . . . . . . . . . . . . . . . . . . . 49
2.6 Causal Path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
2.6.1 Different Types of Causal Paths. . . . . . . . . . . . . . . . 50
2.6.2 Closed Causal Paths. . . . . . . . . . . . . . . . . . . . . . . . 52
2.6.3 Causal Path Gain . . . . . . . . . . . . . . . . . . . . . . . . . . 52
2.7 State-Space Equations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
2.7.1 State Equations . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
2.7.2 Properties of State Variables . . . . . . . . . . . . . . . . . . 56
2.7.3 Steps for Equation Derivation . . . . . . . . . . . . . . . . . 57
2.7.4 Example: State-Space Equation
of an Electrical System. . . . . . . . . . . . . . . . . . . . . . 57
2.7.5 Deriving Block Diagram Model
from Bond Graph Model. . . . . . . . . . . . . . . . . . . . . 59
2.7.6 Model Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . 60
2.8 The Art of Constructing Bond Graph Models . . . . . . . . . . . . 62
2.8.1 A Note on Power Directions . . . . . . . . . . . . . . . . . . 62
2.8.2 Simplification Rules. . . . . . . . . . . . . . . . . . . . . . . . 63
2.8.3 Bond Graphs for Electrical Systems . . . . . . . . . . . . . 65
2.8.4 Bond Graphs for Equivalent Networks . . . . . . . . . . . 68
2.8.5 Bond Graphs for Mechanical Systems. . . . . . . . . . . . 69
2.8.6 Bond Graphs for Multi-Energy Domain Systems . . . . 77
2.8.7 Nonlinear Models. . . . . . . . . . . . . . . . . . . . . . . . . . 79
2.9 Multiport Field Elements. . . . . . . . . . . . . . . . . . . . . . . . . . . 82
2.9.1 RS Element. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
2.9.2 Multiport Elements in Process Engineering . . . . . . . . 83
2.9.3 C-Field . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
2.9.4 I-Field. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
2.9.5 IC-Field . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
2.9.6 R-Field . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Contents xiii
2.9.7 Vector Junction . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
2.9.8 Multiport Transformers and Gyrators . . . . . . . . . . . . 93
2.9.9 Vector Bond Graph for Rigid-Body Dynamics. . . . . . 95
2.10 Bond Graph Modeling of Uncertain Systems. . . . . . . . . . . . . 97
2.10.1 Linear Fractional Transformation (LFT) . . . . . . . . . . 97
2.10.2 LFT Modeling of Bond Graph Elements. . . . . . . . . . 98
2.11 Automated Modeling: An Application Example. . . . . . . . . . . 100
2.11.1 Bond Graph Software. . . . . . . . . . . . . . . . . . . . . . . 100
2.11.2 Description of the System. . . . . . . . . . . . . . . . . . . . 102
2.11.3 Word Bond Graph . . . . . . . . . . . . . . . . . . . . . . . . . 102
2.11.4 Bond Graph Model. . . . . . . . . . . . . . . . . . . . . . . . . 103
2.11.5 Simulation Block Diagram . . . . . . . . . . . . . . . . . . . 104
2.11.6 State Equations and Simulation . . . . . . . . . . . . . . . . 105
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
3 Modeling of Actuators, Sensors, and Electronic Circuits . . . . . . . 111
3.1 Models of Actuators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
3.1.1 Models of Mechanical Actuators . . . . . . . . . . . . . . . 112
3.1.2 Models of Electrical Actuators. . . . . . . . . . . . . . . . . 130
3.1.3 Models of Hydraulic Servo-Actuator. . . . . . . . . . . . . 151
3.1.4 Model of Pneumatic Actuators. . . . . . . . . . . . . . . . . 153
3.2 Modeling of Sensors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
3.2.1 Performance Terminology. . . . . . . . . . . . . . . . . . . . 163
3.2.2 Static and Dynamic Characteristics. . . . . . . . . . . . . . 164
3.2.3 Classification of Sensors. . . . . . . . . . . . . . . . . . . . . 164
3.2.4 Selection Criteria . . . . . . . . . . . . . . . . . . . . . . . . . . 165
3.2.5 Activation of Bonds . . . . . . . . . . . . . . . . . . . . . . . . 165
3.2.6 Power Associated with Activated Bonds. . . . . . . . . . 166
3.2.7 Modeling Mechatronic Systems
with Activated Bonds . . . . . . . . . . . . . . . . . . . . . . . 166
3.2.8 Position Sensors. . . . . . . . . . . . . . . . . . . . . . . . . . . 168
3.2.9 Velocity Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . 174
3.2.10 Acceleration Sensors. . . . . . . . . . . . . . . . . . . . . . . . 175
3.2.11 Force and Pressure Sensors . . . . . . . . . . . . . . . . . . . 177
3.3 Models of Electronic Circuit Components. . . . . . . . . . . . . . . 180
3.3.1 Signal Conditioning . . . . . . . . . . . . . . . . . . . . . . . . 180
3.3.2 Operational Amplifiers . . . . . . . . . . . . . . . . . . . . . . 181
3.3.3 Op-Amp Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . 187
3.3.4 Semiconductor Diode . . . . . . . . . . . . . . . . . . . . . . . 196
3.3.5 Transistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
3.4 Conclusions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229