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

9414585浅田在设计高速机电系统，如磁盘驱动器、芯片贴装机和三维坐标测量机时，对机械结构、执行器、传感器和控制器进行优化的综合方法变得越来越重要。机械设计和控制设计之间存在显著的相互作用和权衡，必须仔细考虑以优化系统的整体性能。该研究将为高速机电一体化系统的集成设计提供一种新的方法。为了克服获得精确分析模型的困难，本项目将原型和实验纳入设计过程。在实验验证模型的基础上，对设计进行了改进，并通过样机和实验验证了其性能的改善。该项目形成了一个包括设计修改、原型制作和实验的闭环递归过程。在每次递归中，对原型控制系统进行实验测试，基于数据对系统模型进行修正和改进，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.