Reference : Concurrent simulation of mechatronic systems with variable mechanical configuration
Scientific congresses and symposiums : Paper published in a book
Engineering, computing & technology : Computer science
Engineering, computing & technology : Electrical & electronics engineering
Engineering, computing & technology : Mechanical engineering
Concurrent simulation of mechatronic systems with variable mechanical configuration
da Silva, Maira M [> >]
Bruls, Olivier mailto [Université de Liège - ULg > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques >]
Paijmans, Bart [FMTC - Flanders’ Mechatronics Technology Centre > > > >]
Desmet, Wim [Katholieke Universiteit Leuven - KUL > Department of Mechanical Engineering (PMA) > > > >]
Van Brussel, Hendrik [Katholieke Universiteit Leuven - KUL > Department of Mechanical Engineering (PMA) > > >]
Proceedings of ISMA 2006
ISMA 2006
September 2006
[en] mechatronic system ; Concurrent simulation ; mechanical configuration
[en] The dynamic behavior of a mechatronic system may be largely dependent on the mechanical configuration. This inevitably affects the performance and the stability of any controller designed using the classical linear control theory. Major improvements are expected if the controller is designed using the theory of linear parameter varying systems, but one difficulty is then to provide a low-order model which captures the configuration-dependent dynamics. This paper presents a methodology to build such a model in two steps: for several representative configurations, a local linear model is derived, the parameter- dependent model is constructed by interpolation in the configuration space. Moreover, a co-simulation methodology is proposed for mechatronic systems by combining LMS Virtual.Lab Motion and Matlab/Simulink. The methodology is applied to an industrial pick-and-place machine.
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