Advanced Mechatronics Monitoring and Control of Spatially Distributed Systems 1st Edition by Dan Necsulescu 9812771816 9789812771810

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ISBN 10: 9812771816

ISBN 13: 9789812771810

Author: Dan Necsulescu

This unique book extends mechatronics to spatially distributed systems. Issues regarding remote measurements and indirect monitoring and control of distributed systems is presented in the general framework of the recently developed ill-posed inverse problems. The book starts with an overview of the main results in the inverse problem theory and continues with the presentation of basic results in discrete inverse theory. The second part presents various forward and inverse problems resulting from modeling, monitoring and controlling mechanical, acoustic, fluid and thermal systems. Finally, indirect and remote monitoring and control issues are analyzed as cases of ill-posed inverse problems. Numerous numerical examples illustrate current approaches used for solving practical inverse problems.

Advanced Mechatronics Monitoring and Control of Spatially Distributed Systems 1st Table of contents:

1 Introduction

1.1 Advanced Mechatronics Systems. Monitoring and Control of Distributed Parameters Systems

1.1.1 Monitoring and Control of Distributed Parameters Systems

1.2 Signals versus Power Transmission. Lumped Parameters Modeling of Mechatronic Systems

1.2.1 Effort flow variables and two port models

1.2.2 Newton-Euler and Kirchhoff equations for a mixed electro-mechanical system

1.2.3 Lagrange equations for a mixed electro-mechanical system

1.3 Local Sensing and Actuation in Spatially Continuous Systems

1.3.1 Lumped parameters models with under-actuation and under-sensing

1.3.2 Distributed parameters models with under-actuation and under-sensing

1.4 Centralized versus Local Control

Problems

2 Examples of Direct and Inverse Problems for Mixed Systems

2.1 Modular Modeling and Control Issues for Mixed Systems

2.1.1 Effort-flow modeling of mechatronic systems

2.2 Modeling and Simulation of Distributed Parameters Systems

2.2.1 Examples of distributed parameters systems

2.2.1.1 Examples of models of vibrating flexible structures

2.2.1.2 Acoustic fields

2.2.1.3 Heat transfer

2.2.1.4 Fluid flow

2.2.1.5 Electric and magnetic fields

2.2.2 Direct and inverse problems. Well posed and ill posed problems

2.2.3 Classification of partial differential equations and methods of solving

2.3 Overview of Open Loop and Closed Loop Control of Distributed Parameters Systems

2.3.1 Direct and inverse problems

2.3.2 Inverse heat conduction problem

2.3.3 Open loop control of distributed parameters systems

2.3.4 Closed loop control of distributed parameters systems

2.4 Under-Actuated and Under-Sensed Mixed Systems

2.4.1 General problem of multi DOF linear mechanical systems. Lumped parameters model

2.4.2 Two DOF mechanical system case

Problems

3 Overview of Integral Equations and Discrete Inverse Problems

3.1 Integral Equations and Continuous Inverse Problems

3.1.1 Integral equations

3.1.2 Discrete form

3.1.3 Other examples of discrete inverse problems

3.2 Discrete Problems for LTI Systems

3.2.1 Introduction

3.2.2 Lumped parameters systems

3.2.2.1 State space representation

3.2.2.2 Complex functions representation

3.2.2.3 Convolution integral representation

3.2.2.4 Matrix form representation

3.3 Discrete Inverse Problems Solved by Matrix Inversion

3.3.1 Types of methods for solving inverse problems

3.3.2 Inverse and pseudo-inverse. MATLAB solutions

3.3.3 Over-determined and under-determined problems

3.3.4 SVD method

3.3.5 Damped LS solution

3.3.6 Regularization method. Regularized LSS

Problems

4 Inverse Problems in Dynamic Calibration of Sensors

4.1 Introduction

4.2 First Order Instruments

4.2.1 Time and frequency response of forward Dynamics

4.2.2 Bandwidth of first order instruments

4.2.3 Static calibration of the sensor

4.2.4 Sinusoidal response of the sensor – MATLAB simulations

4.2.5 Analytical solutions for harmonic response of first order instruments

4.3 Second Order Instruments

4.3.1 Static calibration

4.3.2 Harmonic response of the second order sensor with ζ = 0.6. MATLAB simulations

4.3.3 Analytical solutions for harmonic response of a second order instrument

4.4 Calibration for Computer-Based Instrumentation

4.4.1 Calibration for computer based first order instruments

4.4.2 Phase lead compensation

4.4.3 Full and reduced order dynamic compensators

4.4.3.1 First order instrument

4.4.3.2 Second order instrument

4.5 Dynamic Calibration in Case of Noisy Measurements

4.6 State Estimation for Indirect Sensing

4.6.1 Derivation of the estimator for indirect states estimation using matrix inversion approach

4.6.2 Luenberger observers and Kalman filters

4.6.3 Indirect estimation of states and inputs for LTI ODE systems using matrix inversion

Problems

5 Active Vibration Control in Flexible Structures

5.1 Active Vibration Suppression for Lumped Parameters Mechanical Systems Using Force and Position C

5.1.1 Direct problem

5.1.2 Force control for SISO mechanical system

5.1.3 Position feedback control approach

5.2 Direct Problem and Under-Actuated Control of a Non-Minimum Phase Flexible Shaft

5.3 Control of Vibrations in Beams

5.3.1 Perturbation cancellation control in MIMO linear systems

5.3.2 Direct problem in beam vibration modeling

5.3.3 Feedback control of transversal vibrations in beams

5.3.4 Feedback modal control

5.3.5 Modal control in beam vibration

5.4 Direct Problem in Free Vibrations in Membranes

5.4.1 Membrane vibration solution plotting

5.4.2 Simulation of membrane using FEMLAB

Problems

6 Acousto-Mechatronics

6.1 Acousto-Mechatronic Systems

6.1.1 Recording studio

6.1.2 Active sound control in halls

6.1.3 Active noise control

6.2 Distributed Parameters Models of Sound Transmission

6.2.1 Wave equation for planer sound wave 1D propagation in a free sound field

6.2.2 Wave equation for planar sound wave 3D propagation a free sound field

6.2.3 Sound wave propagation in an enclosed sound field

6.3 Calculation of Eigenvalues and Eigenvectors for a Rectangular Cavity

6.4 Experimental and Simulation Study of Room Acoustics

6.4.1 Introduction

6.4.2 Proposed approach

6.4.3 Simulation model

6.4.4 Simulation results based on ray propagation approach

6.4.5 Experimental results

6.5 Discrete Inverse Problems based on Direct and Reflected Ray Propagation

6.5.1 Parameters estimation using direct ray propagation

6.5.2 Other inverse problems using ray propagation

Problems

7 Themo-Mechatronics

7.1 Direct Problem: Heat Flow Modeling and Simulation

7.1.1 Direct problem solving for 2-Dimentional (2D) heat conduction from a distributed heat source

7.1.2 Direct problem simulation of 2D heat flow for a continuous point-heat source input using MAPLE

7.1.3 Simulation of 2D heat flow for a short temperature pulse input using FEMLABTM

7.1.4 Direct problem formulation for 3-D heat flow

7.2 Inverse Problem Solution for Remote Temperature Monitoring

7.2.1 Introduction

7.2.2 Inverse problem for heat flux input remote estimation from temperature measurements

Problems

8 Magneto-Mechatronics

8.1 Introduction

8.2 Direct Model

8.3 Simulation Results for Linear Control

8.4 State-Input Linearization of a Magnetic Levitation System

8.4.1 Feedback linearization

8.4.2 State-Input linearization and linear feedback control

8.5 Nonlinear Controller of a Magnetic Suspension System

Problems

9 Inverse Problems Issues for Non-Minimum Phase Systems

9.1 Direct and Inverse Problems for Non-Minimum Phase Nonlinear Systems

9.1.1 Introduction

9.1.2 Direct problem for non-minimum phase systems

9.1.3 Neural network approach to inverse dynamics

9.2 Feedback Linearization of a Non-Minimum Phase UAV

9.3 Mathematical Model for UAV Direct Problem

9.4 Simulation Results for the Neural Controller and Output Redefinition

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