Tham khảo tài liệu 'bishop, robert h. - the mechatronics handbook [crc press 2002] part 15', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | LMM in the State of Space The used variables are x1 the rod position x2 the rod velocity x3 the rod acceleration x4 the spool position and x5 the spool velocity. x1 x2 t x2 x3 t x4 x5 t x 3 - w2Zx2 t - 2DZ wZx3 t kZ oỉZx4 t x2 w yx4 t 2Dy Wyx3 t ky WyU t Thus the MM of the axis in state-space form becomes where x t Ax t bu t y t cTx t f 0 1 0 0 0 f 0 A 0 0 1 0 0 0 . A 0 -wZ -2DZwZ kZ 0 b 0 cT 1 0 0 0 0 0 0 0 0 1 0 0 0 0 -Wy -2Dywy I ky Controller Design The characteristic polynomial is obtained from det sI - AC bCrT 0 where AC and bC are the controllable forms of the matrices A and b. If A A C the use of transformation matrix T is advisable in order to obtain AC and bC. Thus AC TAT 1 and bC Tb. The matrix F AC bCrT has the form f 0 1. . 0 A 0 0. . 0 F . . . . 0 0. . 1 a - n a1 - r2 . . an 1 - r rn The characteristic polynomial of the matrix F is sn an 1 rn sn 1 a1 r2 s a0 r1 The poles chosen for the closed-loop determine the polynomial sn pn 1 s -1 pn 2 s 2 P1 s po T The polynomials and are identical therefore the coefficients of matrix rR are r p 1 - av 1 v 1 n If TT A Ac r rR 2002 CRC Press LLC 34 Design Optimization of Mechatronic Systems Tomas Brezina Technical University of Brno Ctirad Kratochvil Technical University of Brno Cestmir Ondrusek Technical University of Brno Introduction Optimization Methods Principles of Optimization Parametric Optimization General Aspects of the Optimization Process Types of Optimization Methods Selection of a Suitable Optimization Method Optimum Design of Induction Motor IM IM Design Introduction Classical IM Design Evaluation Description of a Solved Problem Achieved Results The Use of a Neuron Network for the Identification of the Parameters of a Mechanical Dynamic System Practical Application Introduction Electromechanical systems form an integral part of mechanical and mechatronic systems. Their optimization is a necessary condition for a product to be .
