Mechatronics at the University of Calgary: Concepts and Applications

Jeff Pieper

Outline

Mechatronics Past and Present Research Results Undergraduate Program Directions for the Future Summary

What is Mechatronics?

Synergistic combination of mechanics, electronics, microprocessors and control engineering

Like concurrent engineering Does not take advantage of inherent uniqueness available

Control of complex electro-mechanical systems

Rethinking of machine component design by use of mechanics, electronics and computation Allows more reconfigurablility

What is Mechatronics

Design example: timing belt in automobile Timing belt mechanically synchronizes and supervises operation Mechatronics: replace timing belt with software Allows reconfigurability online

What is Mechatronics

Second example: Active suspension Design of suspension to achieve different characteristics under different operating environments Demonstrates fundamental trade-offs

What is Mechatronics

Low tech, low cost, low performance: pure mechanical elements: spring shock absorber Can use dynamic systems to find coefficients via time or frequency domain mid tech, cost, performance: electronics: op amps, RLC circuits, hydraulic actuators Typically achieve two operating regimes, e.g. highway vs off-road High tech, cost , performance: microprocessor-based online adjustment of parameters Infinitely adjustable performance *

Research Projects

Discrete Sliding Mode Control with Applications Helicopter Flight Control OHS Aircraft Flight Control Magnetic Bearings in Papermaking Systems Robust Control for Marginally stable systems Process Control and System ID Controller Architecture

Theme of research

Control of

Uncertain Nonlinear Time-varying Industrially relevant Electro-mechanical systems

This is control applications side of mechatronics Involves sensor, actuator, controller design

What is control?

Nominal performance

Servo tracking Disturbance rejection Minimal effects of unknown aspects Non-time-varying

Low sensitivity

Feedback Control

Discrete Time Sliding Mode Control

Comprehensive evaluation of theoretical methodology Optimization, maximum robustness Applications:

Web tension system Gantry crane

Web Tension System

Gantry Crane

Helicopter Flight Control

Experimental Model Validation Model-following control design Experimental Flight Control

Multivariable Start-up and safety

Helicopter Flight Control

Helicopter Flight Control

Model-following vs. stability

Conflicting Multi-objective

Controller Optimization Order reduction System validation

Helicopter Flight Control

OHS Aircraft Flight Control

Outboard Horizontal Stabilizer Non-intuitive to fly Developed sensors and actuators Model identification and validation Gain-scheduled adaptive control Reconfigurable controller based upon feedback available

OHS Aircraft
25 4 20 15

*
15 m/s 20
Angle of Attack (deg)
10 5 0 -5 -10 -15 -20 -25

Airspeed (m/s)

-2

-4 0 30 1 2 3 4

100 20 10 75

Pitch Rate (deg/s)

0 1 2 3 4

50 25 0 -25 -50 -75

Pitch (deg)

0 -10 -20 -30

-100 0 10 8 1 2 3 4

2.0 1.5

Elevator Deflection (deg)

0 1 2 3 4

6 4 2 0 -2 -4 -6 -8 -10 0 1 2 3 4

1.0

Altitude (m)

0.5 0.0 -0.5 -1.0 -1.5 -2.0

Time (s)

Time (s)

Magnetic Bearings in Papermaking Systems

System identification for magnetic bearings Nonlinear, unstable system Closed loop modeling Control Design using Sliding Mode methods and state estimators Servo-Control of shaft position

lh U/rhY

lh U/lhY 02 01 0 01020302 01 0 01020304050052 0001 005 002 001 ) zH( y cneuqerF 05 0602

04050052 0001 005 002 001 ) zH( y cneuqerF 05

0602

052 002 051

052 002 051 001 05 0 050052 0001 005 002 001 ) zH( y cneuqerF 05 02

U hl

)ged( e sahP

)ged( e sahP

05

050052 0001 005 002 001 ) zH( y cneuqerF 05

02

Magnetic Bearings

Yhl

001

-3 -2 -1

)Bd( edu tingaM

)Bd( edu tingaM

-3

-2

-1

0 0

5 5

10 15 Time (mS) 10 15

20 20

25

25

-0.5

-0.5

0.5

0.5

1.5

-1

U hr

Yhr

0 0

5 5

10 15 Time (mS) 10 15

20 20

25 25

Magnetic Bearings in Papermaking Systems

Papermaking system modeling Use of mag bearings for tension control actuation and model development Control Design and implementation issues Compare performance with standard roller torque control

Papermaking Tension Control

The H-infinity norm of different order apprx system 1.4 1.35 1.3
H-infinith norm of transfer function

The H-infinity norm of transfer function of PID controller by changing velocity 2.6

The H-infinity norm of transfer function

2nd order approx 4th order approx 6th order approx 10th order approx

2.4 2.2 2 1.8 1.6 1.4 1.2 1 0.8

1.25 1.2 1.15 1.1 1.05 1 0.95 0.9

0.05

0.1

0.15 0.2 0.25 0.3 0.35 0.4 Cross-sectional Area of web material

0.45

0.5

0.05

0.1

0.15

0.2

0.25

0.3

0.35
2

0.4

0.45

0.5

Cross-sectional Area of web material(in. )

Robust Control via Q-parameterization

x

Ball and beam application Stability margin optimization: Nevanlinna-Pick interpolation

Experimental Results

Large lag Non-minimum phase behaviour Friction, hard limits

Robust Stability Margin

Delay

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 1.1 1.2 1.3 1.4 1.5

Nominal

-0.27 -0.26 -0.19 -0.07 0.06 0.17 0.26 0.34 0.39 0.44 0.48 0.51 0.54 0.56 0.58 0.60

Optimal

-0.30 -0.28 -0.22 -0.11 0.01 0.10 0.18 0.24 0.29 0.33 0.37 0.40 0.42 0.44 0.46 0.47

Process Control and System ID: Quadruple-tank Process Diagram

Out2 Out1 Out2 Out1

G11

Tank1 L1

G21

Tank3 L3

G12

Tank2 L2

G22

Tank4 L4

PUMP1

PUMP2

System ID: Model Fitting

Tank4 process model with input u1

Tank2 process model with input u1

Control Techniques

Classic PI control Internal Model Control (IMC) Model Predictive Control (MPC) Linear Quadratic Regulator (LQR) Optimal Control

MPC Control Results

Different set points changes to test MPC controller performance

Tank2 response

Tank4 response

Performance Comparison
Controllers Parameters

PI 4 31 1.5 2.7 0.2 34

IMC 20 99 0 0.8 0.08 102

MPC 5 50 0 0.45 0.05 47

LQR 32 210 0 0.3 0.05 76

MP(%) ts (sec) ss e(%) ||e||2 ||e|| trc(sec)

Controller Architecture

Given conflicting and redundant information Design controller with best practical behaviour

Good nominal performance Robust stability Implementable

*

Undergraduate Program: Mechatronics Lab with Applications

Developed lab environment for teaching and research

Two courses: - linear systems, - prototyping

Hands-on work in:

modeling system identification Sampled-data systems Optical encoding

State estimation
Control design

Mechatronics Lab with Applications

Multivariable fluid flow control system

Two-input-two-outputs Variable dynamics Model Predictive Control Chemical Process Emulation

Fluid Flow Control

Quanser Product

Mechatronics Lab with Applications

Ball and Beam system

Hierarchical control system

Motor position servo Ball position Robust stability and optimal nominal performance

Solve via Q-parameterization

Ball and Beam System

Quanser Product

Mechatronics Lab with Applications

Heat Flow Apparatus

Unique design Varying deadtime for challenging control PID controllers Deadtime compensators

Demonstrate industrial control schemes

Heat Flow Apparatus

Quanser product

Directions for the Future

Robust Performance

robust stability and nominal performance simultaneously guaranteed

Multiobjective Control Design

Systems that meet conflicting, and disparate objectives

Fuzzy systems

Performance evaluation for soft measures

Bottom line: Mechatronics

Summary

Control applications in electromechanical systems Emphasis on usability Complex problems from simple systems Undergraduate program: hands-on learning and dealing with systems form user to end-effector