Sensing rich design of drive trains for mechatronic systems

Masayoshi Tomizuka

doi:10.1117/12.659962

11 April 2006 Sensing rich design of drive trains for mechatronic systems

Masayoshi Tomizuka

Proceedings Volume 6174, Smart Structures and Materials 2006: Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems; 61743Y (2006) https://doi.org/10.1117/12.659962
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2006, San Diego, California, United States

Abstract

In this paper, the advantages of sensing rich approaches to the design of mechatronic systems are explored. Such advantages include enhanced system performance, flexible operation of the system and reduced operational costs. Some advantages of the sensing rich design will be elaborated for the power transmission mechanism or drive train under servo control. The drive train is a fundamental element of any motion control system. The sensing rich design is based on measurements of positions and accelerations at multiple points of a drive train. These measurements improve the performance of drive train servo systems in terms of speed, positioning accuracy and vibration suppression. For example, the Kinematic Kalman filter (KKF) may be used in sensing rich designs. KKF accomplishes robust estimation of the velocity in the presence of parameter uncertainties and disturbances based on the accelerometer and the encoder.

Citation Download Citation

Masayoshi Tomizuka "Sensing rich design of drive trains for mechatronic systems", Proc. SPIE 6174, Smart Structures and Materials 2006: Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems, 61743Y (11 April 2006); https://doi.org/10.1117/12.659962

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