Holistic system modeling in mechatronics

被引：22

作者：

Chhabra, Robin ^{[1
]}

Emami, M. Reza ^{[1
]}

机构：

[1] Univ Toronto, Inst Aerosp Studies, Toronto, ON M3H 5T6, Canada

来源：

MECHATRONICS | 2011年 / 21卷 / 01期

关键词：

Bond graphs; Concurrent design; Holistic design criteria; Mechatronic system modeling; Mechatronics; Multidisciplinary system design; MECHANICAL SYSTEMS; MULTIBODY;

D O I：

10.1016/j.mechatronics.2010.10.003

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper outlines an alternative modeling scheme for mechatronic systems, as a basis for their concurrent design. The approach divides a mechatronic system into three generic subsystems, namely generalized executive, sensory and control, and links them together utilizing a combination of bond graphs and block diagrams. It considers the underlying principles of a multidisciplinary system, and studies the flow of energy and information throughout its different constituents. The first and second laws of thermodynamics are reformulated for mechatronic systems, and as a result three holistic design criteria, namely energy, entropy and agility, are defined. These criteria are formulated using the bond graph representation of a mechatronic system. As a case study, the three criteria are employed separately for concurrent design of a five degree-of-freedom industrial robot manipulator. (C) 2010 Elsevier Ltd. All rights reserved.

引用

页码：166 / 175

页数：10

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