Documenti di Didattica
Documenti di Professioni
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MECHATRONIC SYSTEMS
- WITH ApPLICATIONS FOR CARS -
Rolf Isermann
Abstract: The integration of mechanical processes and microelectronics towards mechatronic systems
opens new possibilities as well for the design of mechanical components as for automatic functions. The
contribution discusses tirst the involved mechanical components and machines and the ways of integra-
tion. Then the different automation functions are described in the frame of intelligent control systems
which contain multilevel control functions, a knowledge base, and inference mechanisms. Multilevel
feedback control for mechanical systems comprises lower level and higher level control, including e.g.
nonlinear adaptive control and fuzzy control. The inclusion of model based supervision and fault
diagnosis is a further development step. Two examples of mechatronic systems for cars are shown, like
an adaptive suspension system and selftuning damping of drive chain oscillations,
Keywords: mechatronic systems, intelligent control, nonlinear control, adaptive control, supervision,
fault diagnosis, adaptive suspension, selftuning damping of drive chain oscillations.
INTRODUCTION
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mechanics (mechanical engineering, precision mecha-
nics) and coupled processes (e.g. thermal, electrical)
electronics (microelectronics, power electronics, mea-
surement and actuator technology)
information technology (systems theory, automation,
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communication, software-design, artificial intelligence)
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pending on the kind of the mechanical system the intensity within a given frame and to govern it towards a certain
of the single development steps is different. For precision goal". Hence, intelligent mechatronic systems can be de-
mechanical devices already fairly integrated mechatronic veloped, ranging from "low-degree intelligent", Isermann
systems do exist. The influence of the electronics on me- (1996), as intelligent actuators, to "fairly intelligent sys-
chanical elements may be considerable, as shown by adap- tems", as e.g. self navigating automatic guided vehicles.
tive dampers, anti-blocking system brakes and automatic
gears. However, complete machines and vehicles show first r-------------------------, r---------------
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a mechatronic design of their elements and then slowly a : linlil ce l : r :lcS
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redesign of parts of the overall structure as can be observed ! . 8 gICS. r==1 interaction : !
in the development of machine tools, robots and vehicle .a:SI.I qualitative
fCasoning
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quantitative
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Table 2 indicates some properties of conventional and me- :s :
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chatronic systems and the advantages gained by the inte-
gration and Table 3 some examples for mechatronic sys- ~~~~~~[~~~~~~~~~~~li~~~~~~ ~~~]~~~~~~li~~~
tems for cars r
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The information processing within mechatronic systems .o! ! :::
may range between simple control functions and intelligent
control, as shown in Fig. 2. An intelligent control system is
organized as an on-line expert system and comprises
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multi control functions (executive functions) : F=I>::
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inference mechanism
communication interfaces
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The on-line control functions are usually organized in multi r----- ----------- ------------- -------
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