Employing Finite Element Analysis and Robust Control Concepts in Mechatronic System Design-Flexible Manipulator Case Study
The paper deals with development of a methodology for mechatronic system design using state-of-the-art model-based system engineering methods. A simple flexible robotic arm is considered as a benchmark problem for the evaluation of various techniques used in the phases of modelling, analysis, contro...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-04-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/8/3689 |
| _version_ | 1797537127814135808 |
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| author | Martin Goubej Jana Königsmarková Ronald Kampinga Jakko Nieuwenkamp Stéphane Paquay |
| author_facet | Martin Goubej Jana Königsmarková Ronald Kampinga Jakko Nieuwenkamp Stéphane Paquay |
| author_sort | Martin Goubej |
| collection | DOAJ |
| description | The paper deals with development of a methodology for mechatronic system design using state-of-the-art model-based system engineering methods. A simple flexible robotic arm is considered as a benchmark problem for the evaluation of various techniques used in the phases of modelling, analysis, control system design, validation, and implementation. The flexible nature of the mechanical structure introduces inherently oscillatory dynamics in the target bandwidth range, which complicates all the above-mentioned design steps. This paper demonstrates the process of deriving a complex nonlinear model of the flexible arm setup. An initial idea about the plant dynamics is acquired from analytical modelling using the Euler–Bernoulli beam theory. A more thorough understanding is subsequently acquired from finite element analysis. Linearisation and order reduction are the next steps necessary for the derivation of a simplified control-relevant model. A time-dependent variable parameter of load mass position is considered and a robust controller is subsequently designed in order to fulfil certain performance criteria for all the admissible plant configurations. This is performed using a recent H-infinity loop shaping method for fixed structure controller design. The results are validated by means of a physical plant, comparing the experimental data with the model predictions. |
| first_indexed | 2024-03-10T12:10:40Z |
| format | Article |
| id | doaj.art-7d9f6f526f03422493a2845125c58642 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T12:10:40Z |
| publishDate | 2021-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-7d9f6f526f03422493a2845125c586422023-11-21T16:14:17ZengMDPI AGApplied Sciences2076-34172021-04-01118368910.3390/app11083689Employing Finite Element Analysis and Robust Control Concepts in Mechatronic System Design-Flexible Manipulator Case StudyMartin Goubej0Jana Königsmarková1Ronald Kampinga2Jakko Nieuwenkamp3Stéphane Paquay4NTIS Research Centre, Faculty of Applied Sciences, University of West Bohemia, 30614 Pilsen, CzechiaNTIS Research Centre, Faculty of Applied Sciences, University of West Bohemia, 30614 Pilsen, CzechiaReden B.V., 7555 RJ Hengelo, The NetherlandsReden B.V., 7555 RJ Hengelo, The NetherlandsOpen Engineering S.A., 4031 Liège, BelgiumThe paper deals with development of a methodology for mechatronic system design using state-of-the-art model-based system engineering methods. A simple flexible robotic arm is considered as a benchmark problem for the evaluation of various techniques used in the phases of modelling, analysis, control system design, validation, and implementation. The flexible nature of the mechanical structure introduces inherently oscillatory dynamics in the target bandwidth range, which complicates all the above-mentioned design steps. This paper demonstrates the process of deriving a complex nonlinear model of the flexible arm setup. An initial idea about the plant dynamics is acquired from analytical modelling using the Euler–Bernoulli beam theory. A more thorough understanding is subsequently acquired from finite element analysis. Linearisation and order reduction are the next steps necessary for the derivation of a simplified control-relevant model. A time-dependent variable parameter of load mass position is considered and a robust controller is subsequently designed in order to fulfil certain performance criteria for all the admissible plant configurations. This is performed using a recent H-infinity loop shaping method for fixed structure controller design. The results are validated by means of a physical plant, comparing the experimental data with the model predictions.https://www.mdpi.com/2076-3417/11/8/3689modelling for controlflexible mechanical systemsfinite element analysismodel-based designdigital twinrobust control |
| spellingShingle | Martin Goubej Jana Königsmarková Ronald Kampinga Jakko Nieuwenkamp Stéphane Paquay Employing Finite Element Analysis and Robust Control Concepts in Mechatronic System Design-Flexible Manipulator Case Study Applied Sciences modelling for control flexible mechanical systems finite element analysis model-based design digital twin robust control |
| title | Employing Finite Element Analysis and Robust Control Concepts in Mechatronic System Design-Flexible Manipulator Case Study |
| title_full | Employing Finite Element Analysis and Robust Control Concepts in Mechatronic System Design-Flexible Manipulator Case Study |
| title_fullStr | Employing Finite Element Analysis and Robust Control Concepts in Mechatronic System Design-Flexible Manipulator Case Study |
| title_full_unstemmed | Employing Finite Element Analysis and Robust Control Concepts in Mechatronic System Design-Flexible Manipulator Case Study |
| title_short | Employing Finite Element Analysis and Robust Control Concepts in Mechatronic System Design-Flexible Manipulator Case Study |
| title_sort | employing finite element analysis and robust control concepts in mechatronic system design flexible manipulator case study |
| topic | modelling for control flexible mechanical systems finite element analysis model-based design digital twin robust control |
| url | https://www.mdpi.com/2076-3417/11/8/3689 |
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