Sabanovic / Ohnishi Motion Control Systems

1. Auflage 2011
ISBN: 978-0-470-82829-8
Verlag: John Wiley & Sons
Format: EPUB
Kopierschutz: Adobe DRM (»Systemvoraussetzungen)

E-Book, Englisch, 376 Seiten, E-Book

Reihe: Wiley - IEEE

Motion Control Systems is concerned with design methods thatsupport the never-ending requirements for faster and more accuratecontrol of mechanical motion. The book presents material that isfundamental, yet at the same time discusses the solution of complexproblems in motion control systems. Methods presented in the bookare based on the authors' original research results. Mathematicalcomplexities are kept to a required minimum so that practicingengineers as well as students with a limited background in controlmay use the book. It is unique in presenting know-how accumulatedthrough work on very diverse problems into a comprehensive unifiedapproach suitable for application in high demanding, high-techproducts. Major issues covered include motion control ranging fromsimple trajectory tracking and force control, to topics related tohaptics, bilateral control with and without delay in measurementand control channels, as well as control of nonredundant andredundant multibody systems.
* Provides a consistent unified theoretical framework for motioncontrol design
* Offers graduated increase in complexity and reinforcementthroughout the book
* Gives detailed explanation of underlying similarities andspecifics in motion control
* Unified treatment of single degree-of-freedom and multibodysystems
* Explains the fundamentals through implementation examples
* Based on classroom-tested materials and the authors' originalresearch work
* Written by the leading researchers in sliding mode control(SMC) and disturbance observer (DOB)
* Accompanying lecture notes for instructors
* Simulink and MATLAB® codes available for readers todownload
Motion Control Systemsis an ideal textbook for a courseon motion control or as a reference for post-graduates andresearchers in robotics and mechatronics. Researchers andpracticing engineers will also find the techniques helpful indesigning mechanical motion systems.

Autoren/Hrsg.

Sabanovic, Asif

Ohnishi, Kouhei

Inhaltsverzeichnis

Preface.
About the Authors.
PART ONE - BASICS OF DYNAMICS AND CONTROL.
1 Dynamics of Electromechanical Systems.
1.1 Basic Quantities.
1.2 Fundamental Concepts of Mechanical Systems.
1.3 Electric and Electromechanical Systems.
References.
Further Reading.
2 Control System Design.
2.1 Basic Concepts.
2.2 State Space Representation.
2.3 Dynamic Systems with Finite Time Convergence.
References.
Further Reading.
PART TWO - ISSUES IN MOTION CONTROL.
3 Acceleration Control.
3.1 Plant.
3.2 Acceleration Control.
3.3 Enforcing Convergence and Stability.
3.4 Trajectory Tracking.
References.
Further Reading.
4 Disturbance Observers.
4.1 Disturbance Model Based Observers.
4.2 Closed Loop Disturbance Observers.
4.3 Observer for Plant with Actuator.
4.4 Estimation of Equivalent Force and Equivalent Acceleration.
4.5 Functional Observers.
4.6 Dynamics of Plant with Disturbance Observer.
4.7 Properties of Measurement Noise Rejection.
4.8 Control of Compensated Plant.
References.
Further Reading.
5 Interactions and Constraints.
5.1 Interaction Force Control.
5.2 Constrained Motion Control.
5.3 Interactions in Functionally Related Systems.
References.
Further Reading.
6 Bilateral Control Systems.
6.1 Bilateral Control without Scaling.
6.2 Bilateral Control Systems in Acceleration Dimension.
6.3 Bilateral Systems with Communication Delay.
References.
Further Reading.
PART THREE - MULTIBODY SYSTEMS.
7 Configuration Space Control.
7.1 Independent Joint Control.
7.2 Vector Control in Configuration Space.
7.3 Constraints in Configuration Space.
7.4 Hard Constraints in Configuration Space.
References.
Further Reading.
8 Operational Space Dynamics and Control.
8.1 Operational Space Dynamics.
8.2 Operational Space Control.
References.
Further Reading.
9 Interactions in Operational Space.
9.1 Task-Constraint Relationship.
9.2 Force Control.
9.3 Impedance Control.
9.4 Hierarchy of Tasks.
References.
Further Reading.
Index.

Über Autor(innen)

Asif Sabanovic is a Professor of Engineering andNatural Sciences at Sabanci University. Previously he has been withUniversity of Sarajevo, Caltech, Keio University and YamaguchiUniversity. He was also Head of CAD/CAM and Robotics Department atTubitak - MAM, Turkey. Sabanovic has received Best PaperAwards from the IEEE, and his major fields of interest includepower electronics, sliding mode control, motion control andmechatronics. He received a BS, MS, and PhD in ElectricalEngineering from the University of Sarajevo, Bosnia andHerzegovina.
Kouhei Ohnishi a Professor of Systems Design Engineeringat Keio University. His research interests include powerelectronics, mechatronics, motion control and haptics. Ohnishireceived Best Paper Awards from the Institute of ElectricalEngineers of Japan and the Japan Society for Precision Engineering.He also received Dr.-Ing. Eugene Mittelmann Achievement Award fromthe IEEE Industrial Electronics Society in 2004. Ohnishi holds aBE, ME, and PhD in Electrical Engineering from the University ofTokyo.