Dynamics Of Mechatronics Systems

Distributed parameter systems encompass a broad range of engineering applications from stereo speakers to space structures. The dynamic behavior of these systems is usually governed by one or more partial differential equations, which may accurately represent the physical system but are often difficult to solve exactly. Research in the dynamics and control of distributed parameter structural systems has grown dramatically in recent years, owing in part to the increasing complexity of these systems.

This book is an essential guide to nonlinear dynamics and vibration control, detailing both the theory and the practical industrial applications within all aspects of engineering. Demonstrating how to improve efficiency through reducing unwanted vibration, it will aid both students and engineers in practically and safely improving flexible structures through control methods.

Recent years have witnessed a rapid development of active control of various mechanical systems. With increasingly strict requirements for control speed and system performance, the unavoidable time delays in both controllers and actuators have become a serious problem. For instance, all digital controllers, analogue anti­ aliasing and reconstruction filters exhibit a certain time delay during operation, and the hydraulic actuators and human being interaction usually show even more significant time delays. These time delays, albeit very short in most cases, often deteriorate the control performance or even cause the instability of the system, be­ cause the actuators may feed energy at the moment when the system does not need it. Thus, the effect of time delays on the system performance has drawn much at­ tention in the design of robots, active vehicle suspensions, active tendons for tall buildings, as well as the controlled vibro-impact systems. On the other hand, the properly designed delay control may improve the performance of dynamic sys­ tems. For instance, the delayed state feedback has found its applications to the design of dynamic absorbers, the linearization of nonlinear systems, the control of chaotic oscillators, etc. Most controlled mechanical systems with time delays can be modeled as the dynamic systems described by a set of ordinary differential equations with time delays.

Recent years have witnessed a rapid development of active control of various mechanical systems. With increasingly strict requirements for control speed and system performance, the unavoidable time delays in both controllers and actuators have become a serious problem. For instance, all digital controllers, analogue anti­ aliasing and reconstruction filters exhibit a certain time delay during operation, and the hydraulic actuators and human being interaction usually show even more significant time delays. These time delays, albeit very short in most cases, often deteriorate the control performance or even cause the instability of the system, be­ cause the actuators may feed energy at the moment when the system does not need it. Thus, the effect of time delays on the system performance has drawn much at­ tention in the design of robots, active vehicle suspensions, active tendons for tall buildings, as well as the controlled vibro-impact systems. On the other hand, the properly designed delay control may improve the performance of dynamic sys­ tems. For instance, the delayed state feedback has found its applications to the design of dynamic absorbers, the linearization of nonlinear systems, the control of chaotic oscillators, etc. Most controlled mechanical systems with time delays can be modeled as the dynamic systems described by a set of ordinary differential equations with time delays.

During the period 1982-1985, six books of the series: Scientific Fun­ damentals of Robotics were published by Springer-Verlag. In chronolo­ gical order these were: Dynamics of Manipulation Robots: Theory and Application, by M. Vukobra­ tovic and V. Potkonjak, Control of Manipulation Robots: Theory and Ap­ plication, by M. vukobratovic and D. Stokic, Kinematics and Trajectory Synthesis of Manipulation Robots, by M. Vukobratovic and H. Kircanski, Real-Time Dynamics of Hanipulation Robots by M. Vukobratovic and N. Kircanski, Non-Adaptive and Adaptive Control of Manipulation Robots, by M. Vukobratovic, D. Stokic and N. Kircanski and Computer-Aided De­ sign and Applied Dynamics of Manipulation Robots, by M. Vukobratovic and V. Potkonjak. Within the series, during 1989, two monographs dealing with new sub­ jects will be published. So far, amongst the published monographs, Vol. 1 has been translated into Japanese, Volumes 2 and 5 into Russian, and Volumes 1-6 will appear in Chinese and Hungarian. In the author's opinion, the afore mentioned monographs, in principle, cover with sufficient breadth, the topics devoted to the design of ro­ bots and their control systems, at the level of post-graduate study in robotics. However, if this material was also to apply to the study of robotics at under-graduate level, it would have to be modified so as to obtain the character of a textbook. With this in mind, it must be noted that the subject matter contained in the text cannot be simpli­ fied but can only be elaborated in more detail.

During the period 1982-1985, six books of the series: Scientific Fun­ damentals of Robotics were published by Springer-Verlag. In chronolo­ gical order these were: Dynamics of Manipulation Robots: Theory and Application, by M. Vukobra­ tovic and V. Potkonjak, Control of Manipulation Robots: Theory and Ap­ plication, by M. vukobratovic and D. Stokic, Kinematics and Trajectory Synthesis of Manipulation Robots, by M. Vukobratovic and H. Kircanski, Real-Time Dynamics of Hanipulation Robots by M. Vukobratovic and N. Kircanski, Non-Adaptive and Adaptive Control of Manipulation Robots, by M. Vukobratovic, D. Stokic and N. Kircanski and Computer-Aided De­ sign and Applied Dynamics of Manipulation Robots, by M. Vukobratovic and V. Potkonjak. Within the series, during 1989, two monographs dealing with new sub­ jects will be published. So far, amongst the published monographs, Vol. 1 has been translated into Japanese, Volumes 2 and 5 into Russian, and Volumes 1-6 will appear in Chinese and Hungarian. In the author's opinion, the afore mentioned monographs, in principle, cover with sufficient breadth, the topics devoted to the design of ro­ bots and their control systems, at the level of post-graduate study in robotics. However, if this material was also to apply to the study of robotics at under-graduate level, it would have to be modified so as to obtain the character of a textbook. With this in mind, it must be noted that the subject matter contained in the text cannot be simpli­ fied but can only be elaborated in more detail.