Abstract
Mechatronic systems are fully-integrated engineering systems that are composed of mechanical, electronic, and computer control sub-systems. These integrated systems use electro-mechanical actuators to cause the required motion. Therefore, the design of appropriate controllers for these actuators are an essential step in mechatronic system design. In this paper, a three-stage methodology for real-time identification and control of electro-mechanical actuator plants is presented, tested, and validated. First, identification models are constructed from experimental data to approximate the plants’ response. Second, the identified model is used in a simulation environment for the purpose of designing a suitable controller. Finally, the designed controller is applied and tested on the real plant through Hardware-in-the-Loop (HIL) environment. The described three-stage methodology provides the following practical contributions:•Establishes an easy-to-follow methodology for controller design of electro-mechanical actuators.•Combines off-line and on-line controller design for practical performance.•Modifies the HIL concept by using physical plants with computer control (rather than virtual plants with physical controllers).Simulated and experimental results for two case studies, induction motor and vehicle drive system, are presented in order to validate the proposed methodology. These results showed that electromechanical actuators can be identified and controlled using an easy-to-duplicate and flexible procedure.
Highlights
Mechatronic systems are fully-integrated engineering systems that are composed of mechanical, electronic, and computer control sub-systems
The plant is disconnected and controllers are applied to the identified model in a simulation environment
Once the controller is designed and tuned in a pure simulation environment, the plant is re-connected to the computer acquisition arrangement where the computer is used as the controller
Summary
The aim of the proposed methodology is to choose and apply appropriate controllers to general electro-mechanical actuators. Once the controller is designed and tuned in a pure simulation environment, the plant is re-connected to the computer acquisition arrangement where the computer is used as the controller
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