Integrated Structure/Control Design of Mechatronic Systems Using a Recursive Structure Reinforcement Method

在高速机电系统的设计中，如磁盘驱动器、贴片机和三维坐标测量机，机械结构、致动器和传感器以及控制器的综合优化方法变得越来越重要。机械设计和控制设计之间存在重要的相互作用和权衡，必须仔细考虑以优化整个系统性能。该研究为高速机电一体化系统的集成设计提供了一种新的思路。为了克服获得精确分析模型的困难，本项目将原型设计和实验纳入设计过程。在经过实验验证的模型基础上，对设计进行了修改，并通过原型设计和实验验证了其性能改进情况。这个项目形成了一个闭环递归过程，包括设计修改、原型制作和实验。在每个递归中，对原型控制系统进行实验测试，根据数据对系统模型进行修正和完善，进行设计权衡以确定最优设计变更，并根据确定的设计变更对原型进行物理修改。

9414585 Asada In the design of high speed mechatronic systems, such as disk drives, chip placement machines and three-dimensional coordinate measurement machines, an integrated approach to the optimization of mechanical structures, actuators and sensors together with controllers is increasingly important. There are significant interplays and trade-offs between mechanical design and control design, which must be considered carefully to optimize the total system performance. This research will establish a novel method for the integrated design of high speed mechatronic systems. To overcome the difficulty of obtaining exact analytic models, this project incorporates prototyping and experimentation into the design process. Based on a model verified through experiments, the design is modified, and its performance improvement is examined through prototyping and experimentation. This project forms a closed-loop recursive process comprising design modification, prototyping, and experimentation. In each recursion, a prototype control system is tested experimentally, the system model is corrected and refined based on the data, design trade-offs are made to determine an optimal design change, and the prototype is physically modified in accordance with the determined design change.