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

小行星9414585 在高速机电一体化系统的设计中，例如磁盘驱动器、芯片放置机和三维坐标测量机，对机械结构、致动器和传感器以及控制器进行优化的集成方法越来越重要。 在机械设计和控制设计之间存在重要的相互影响和权衡，必须仔细考虑以优化系统的总体性能。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方法。 为了克服获得精确分析模型的困难，该项目将原型和实验纳入设计过程。基于通过实验验证的模型，修改设计，并通过原型和实验检查其性能的改善。 该项目形成了一个闭环递归过程，包括设计修改，原型设计和实验。 在每个递归中，通过实验测试原型控制系统，基于数据校正和细化系统模型，进行设计权衡以确定最佳设计改变，并且根据所确定的设计改变物理地修改原型。

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.