The 3+1 SysML View-Model in Model Integrated Mechatronics

Software is becoming the driving force in today’s mechatronic systems. It does not only realize a significant part of their functionality but it is also used to realize their most competitive advantages. However, the traditional development process is wholly inappropriate for the development of these systems that impose a tighter coupling of software with electronics and mechanics. In this paper, a synergistic integration of the constituent parts of mechatronic systems, i.e. mechanical, electronic and software is proposed though the 3+1 SysML view-model. SysML is used to specify the cen-tral view-model of the mechatronic system while the other three views are for the different disciplines involved. The widely used in software engineering V-model is extended to address the requirements set by the 3+1 SysML view-model and the Model Integrated Mechatronics (MIM) paradigm. A SysML profile is described to facilitate the application of the proposed view-model in the development of mechatronic systems.

Customer-oriented Configuration Model for Modular MechatronicProducts: Application in Industrial Robot Design

The contradiction between manufacturing costs and customer demand of mechatronic products can be balanced by configuration design. The article proposes a customer-oriented configuration model for modular mechatronic products which makes up the shortfall in meeting customer needs for the traditional configuration de- sign mode. The elements of the modular mechatronic products configuration model including module, module connection and configuration knowledge are analyzed. And a formal representation method for configuration model elements combining with their characteristics is given. Based on the above research, an abstract configuration model of modular mechatronic products is designed. Finally, an industrial robot is used as an application exam- ple to build a customer-oriented industrial robot configuration model.

Mechatronic Modeling and Domain Transformation of Multi-physics Systems

The enhanced definition of Mechatronics involves the four underlying characteristics of integrated,unified,unique,and systematic approaches.In this realm,Mechatronics is not limited to electro-mechanical systems,in the multi-physics sense,but involves other physical domains such as fluid and thermal.This paper summarizes the mechatronic approach to modeling.Linear graphs facilitate the development of state-space models of mechatronic systems,through this approach.The use of linear graphs in mechatronic modeling is outlined and an illustrative example of sound system modeling is given.Both time-domain and frequency-domain approaches are presented for the use of linear graphs.A mechatronic model of a multi-physics system may be simplified by converting all the physical domains into an equivalent single-domain system that is entirely in the output domain of the system.This approach of converting(transforming)physical domains is presented.An illustrative example of a pressure-controlled hydraulic actuator system that operates a mechanical load is given.

立体仓库与运输产线综合实训平台的设计与实践

随着物流业的自动化水平不断提升,自动化仓储需求迅猛发展,对机电一体化相关专业高质量人才培养提出了更为迫切的要求。为了实现教学与实践的有机衔接,设计了立体仓库与运输产线综合实训平台,集成了运输产线、颜色识别、智能检测、立体仓库等模块,通过工业以太网组件高度集成化的自动化生产线。并分层次设计了运输产线操作实训、立体仓库出入库操作实训、平台整体PLC程序开发实训、机电概念设计模块(MCD)的运用、颜色识别程序开发实训、立体仓与运输产线综合实训项目。以期为学生提供一个能够贴近真实工业环境的学习与操作机会。

Modelling and Remote Control of an Excavator

This paper presents the results of an on-going project and investigates modelling and remote control issues of an industry excavator. The details of modelling, communication, and control of a remotely controllable excavator are studied. The paper mainly focuses on trajectory tracking control of the excavator base and robust control of the excavator arm. These will provide the fundamental base for our next research step. In addition, extensive simulation results for trajectory tracking of the excavator base and robust control of the excavator arm are given. Finally, conclusions and further work have been identified.

Mechatronic Design and Maneuverability Analysis of a Novel Robotic Shark

In this paper,the mechatronic design and maneuverability analysis of a novel robotic shark are presented.To obtain good maneuverability,a barycenter regulating device is designed to assist the posture adjustment at low speeds.Based on the Newton-Euler approach,an analytical dynamic model is established with particular consideration of pectoral fins for threedimensional motions.The hydrodynamic coefficients are computed using computational fluid dynamics(CFD)methods.Oscillation amplitudes and phases are determined by fitting an optimized fish body wave.The performance of the robotic shark is estimated by varying the oscillation frequency and offset angle.The results show that with oscillation frequency increasing,the swimming speed increases linearly.The robotic shark reaches the maximum swimming speed of 1.05 m/s with an oscillation frequency of 1.2 Hz.Furthermore,the turning radius decreases nonlinearly as the offset angle increased.The robotic shark reaches the minimum turning radius of 1.4 times the body length with 0.2 Hz frequency and 12°offset angle.In the vertical plane,as the pectoral fin angle increases,the diving velocity increases nonlinearly with increase rate slowing down.

Modeling and Control for Magnetostrictive Hysteresis

To deal with the rate-dependent hysteresis presented in a magnetostrictive actuator, a new method of modeling and control is proposed. The relationship between inputs and outputs of the actuator is approximately described by a dynamic differential equation with two rate-dependent coefficients, each expressed as a polynomial of frequency. For a given frequency, the coefficients will be able to be estimated by approximating the experimental data of the outputs of the magnetostrictive actuator. Based on this model, a quasi-PID controller is designed. In the space of the coefficients and frequency, the stable domain of closed loop system with hysteresis is analyzed. The numerical simulation and experiments have born witness to the feasibility of the proposed new method.

Model Helicopter Control Using Body-Mounted Vibro-Tactile Transducers

The sense of touch as a man-machine communication channel can be as acute as the sense of sight and sound. In some scenarios such as those seen in aerobatics, stunt flying, and combat flights, tactile sensors can even outperform the conventional non-contact sensors in terms of situation awareness. Fusion of tactile sensory information with those obtained via sight and sound can avoid diverting the user’s attention away from the operational task at hand as well. In this study, the performance of an operator, to servo control the motion of a 2-dof model helicopter with pitch/yaw maneuverability, subjected to an intuitive body-referenced arrangement of a cluster of vibro-tactile sensors is investigated. A blindfolded operator will then control the helicopter to a safe attraction zone via a joystick based on this tactile sensory information. A fine-tuned local controller would take over for the end-of-motion precise homing. This study can pave the way towards a systematic integration and characterization of tactile sensors in high performance weapon platforms with improved situation awareness in visually awkward maneuvers such as those seen in aerial combat scenarios.

Minimal Realization of Linear Graph Models for Multi-physics Systems

An engineering system may consist of several different types of components,belonging to such physical"domains"as mechanical,electrical,fluid,and thermal.It is termed a multi-domain(or multi-physics)system.The present paper concerns the use of linear graphs(LGs)to generate a minimal model for a multi-physics system.A state-space model has to be a minimal realization.Specifically,the number of state variables in the model should be the minimum number that can completely represent the dynamic state of the system.This choice is not straightforward.Initially,state variables are assigned to all the energy-storage elements of the system.However,some of the energy storage elements may not be independent,and then some of the chosen state variables will be redundant.An approach is presented in the paper,with illustrative examples in the mixed fluid-mechanical domains,to illustrate a way to recognize dependent energy storage elements and thereby obtain a minimal state-space model.System analysis in the frequency domain is known to be more convenient than in the time domain,mainly because the relevant operations are algebraic rather than differential.For achieving this objective,the state space model has to be converted into a transfer function.The direct way is to first convert the state-space model into the input-output differential equation,and then substitute the time derivative by the Laplace variable.This approach is shown in the paper.The same result can be obtained through the transfer function linear graph(TF LG)of the system.In a multi-physics system,first the physical domains have to be converted into an equivalent single domain(preferably,the output domain of the system),when using the method of TFLG.This procedure is illustrated as well,in the present paper.

自制立体仓库实物模型应用于机电一体化实验的教学研究与实践

针对当前高校机电一体化实验教学综合性和创新性不足等问题,提出自制立体仓库实物模型应用于机电一体化实验的教学改革。该模型基于西门子S7-1200 PLC模拟工业物流仓储立体仓库自动出/入库和存/取料的整个过程,实验教学按照基础实验项目、案例实验项目、开放式实验项目分层次进行,着重培养本科生的基本操作技能和综合创新实践能力。经过三年实验教学实践证明,实验教学改革有效提升了本科生运用专业知识解决实际问题的能力。

以虚拟原型技术为基础的机电一体化建模探析

近年来,机电一体化产品需求发生了巨大变化,将同时面向控制、电子以及机械等多个领域,对产品研发能力提出了新的挑战,传统的仿真设计已越来越无法满足现实需求,急需新的技术改进。虚拟原型技术作为可以反映产品本质特性的多域数字模型,可契合精细化技术要求,符合复杂多变的现实需求。本文立足于以虚拟原型技术为基础的机电一体化建模需求分析、基本流程,通过实证分析提出机电一体化建模,以期为机械制造科学化生产奠定良好基础。

基于数字建模的机电一体化数字智能控制系统的设计与实现

在当前的工业自动化和智能制造领域中,机电一体化技术发挥着核心作用,其中,数字建模技术的应用尤为关键。数字建模涉及创建精确的计算机模型来模拟物理系统的行为,是提高机电系统设计精确度和效率的重要手段。基于数字建模技术,详细研究了机电一体化数字智能控制系统的设计与实现过程,从系统需求分析到控制系统架构的构建,再到数字智能控制算法的开发和数字建模方法的应用,全面覆盖了系统的设计、实施和测试阶段。旨在展示如何通过高级数字建模技术优化机电一体化系统的性能,以及如何实现这些系统的智能化和自动化。

基于BIM的电气一体化监测平台设计

针对施工现场复杂多变的环境及工程中的不可预测性,导致无法实施决策管理的情况,提出一种基于BIM的电气一体化监测平台设计方案,系统性地分析机电施工需求信息,建立施工信息数据库,定义建筑电气一体化模型,利用BIM技术获取自动化系统的基本数据,设计场景融合方案,同时将监测数据实时传输至平台,有效克服建设项目过程沟通不畅、信息缺失等问题。通过理论分析,很大程度提高了施工效率,为项目实施过程的安全高效提供保障。

基于Matlab-Sim Mechanics的机电产品组成建模与仿真技术研究

分析了目前几种产品建模方法的特点。比较了机电一体化产品组成的现有划分方法。针对以广义执行机构为主功能的机电一体化产品组成划分 ,提出了结合Matlab软件的SimMechanics工具箱建立机电一体化产品的广义执行机构模型、传感器模型和控制策略模型的机电产品组成对象建模的方法 ,为机电一体化产品方案生成后的进一步仿真分析奠定了基础。文章以特定的机电一体化产品———家用多功能缝纫机的横针机构子系统为例 ,阐明了这种建模方法和仿真技术的具体应用 。

机电一体化系统建模技术与仿真软件的研究与分析

总结了国际上目前研究的几种可以实现自动向数学模型转化的机电一体化系统理想的物理模型建立的方法,即键合图方法、面向对象的方法、方块图方法、系统图方法和混合Petri网方法。分析研究了由Lancaster大学EDC(Engineering Design Center)中心的研究者们开发的计算机辅助机电一体化系统概念设计的建模与仿真软件Schemebuilder,研究了用键合图方法建模的仿真软件20-sim和使用面向对象方法建模的仿真软件Dymola,以及使用方块图建模的控制系统仿真软件Matlab和机械机构系统仿真软件Adams。最后总结了机电一体化建模与仿真的发展趋势,即机电相结合的机电一体化系统仿真软件为机电一体化系统理想的建模和仿真环境。

机电一体化系统概念设计过程模型的研究

主要研究了机电一体化系统的概念设计。通过对机电一体化系统的组成的新认识和它的概念设计特点的分析 ,提出了基于功能 行为 结构模型的机电一体化系统概念设计过程模型。它将有助于推动由思维模型向计算模型的转换 ,实现计算机辅助概念设计的目标。

机电类专业贯穿式项目制教学体系研究与实践

构建了以项目为载体的机电类专业课程教学体系,该体系中每门课程都是由多个项目组成的。以机电一体化专业教学为例,设计了简易挖掘机模型的设计与制作项目,并将其贯穿到机电一体化专业主要核心课程,每门课程中都设计有与挖掘机模型制作相关的项目,进行了多门课程融合的贯穿式项目制实践教学体系的构建与实施,取得了较好的教学效果。

机电系统虚拟样机协同建模与仿真技术研究

针对机电系统虚拟样机设计的需要,在单学科仿真建模的基础上,进行基于仿真软件接口的多学科协同建模与仿真分析。以工业机器人虚拟样机的关节运动控制为例,利用ADAMS/Controls模块,将动力学模型通过接口变量与控制模型进行连接,建立连杆-关节执行机构多体动力学与运动控制协同的虚拟样机多学科集成模型,并进行协同仿真运行,表明基于仿真软件接口的协同建模与仿真方法能够有效支持机电系统虚拟样机的开发技术研究。

基于Proteus的XY数控工作台仿真模型设计

设计了一款基于Proteus的XY数控工作台仿真模型,该模型具有两轴步进电机的控制信号输入、丝杠两端限位信号输出、工作台运动轨迹实时绘制等功能。搭建了以51单片机为控制核心,具有液晶屏显示接口、手动开关控制功能的XY数控工作台示例电路。将该模型应用于机电一体化课程教学中,可以节省机械和电路硬件成本,锻炼学生机电一体化系统设计和调试能力,对促进学生综合实践能力的提升具有重要意义。

机电联合建模在直驱伺服系统设计中的应用

为了缩短直驱伺服系统设计周期,并保证所设计的系统的性能满足设计指标要求,提出了一种直驱伺服系统机电联合建模方法。以典型的直驱伺服系统为例,叙述了该建模方法的实现过程。建立了直驱伺服系统的动力学理论模型和基于Recurdyn和Matlab的机电联合仿真模型,在不同条件下对机电联合仿真模型进行了时域和频域仿真分析,并对仿真结果与系统实际测试结果进行了对比。结果表明:系统开环时域与频域仿真结果与实验结果基本吻合,幅频匹配度大于83%,相频匹配度大于73%,时域匹配度大于89%。得到的结果验证了提出方法的有效性和正确性,表明利用该方法可在设计过程中对设计方案进行性能预测,提高设计效率。