光机电一体化毕业设计翻译题.doc

毕业设计翻译 Mechatronic Design 机电一体化设计2.0 Approach 商量2.1 Historical Development and Denition of Mechatronic Systems历史发展和认识机电一体化系统2.2 Functions of Mechatronic Systems Division of Functions Between Mechanics and Electronics Improvement of Operating Properties Addition of New Functions功能的机电一体化系统之间的功能划分力学和电子改善操作性能添加新的功能2.3 Ways of Integration Integration of Components (Hardware) Integration of Information Processing (Software)集成方法集成元件（硬件）一体化的信息处理（软件）2.4 Information Processing Systems (Basic Architecture and HW/SW Trade-offs) Multilevel Control Architecture Special Signal Processing Model-based and Adaptive Control Systems Supervision and Fault Detection Intelligent Systems (Basic Tasks)信息处理系统（基本架构和硬件/软件权衡）多级控制结构专用信号处理模型和自适应控制系统监督和故障检测智能系统（基本任务）.2.5 Concurrent Design Procedure for Mechatronic Systems Design Steps Required CAD/CAE Tools Modeling Rolf Isermann Procedure Real-Time Simulation Hardware-in-the-Loop Darmstadt University of Technology Simulation Control Prototyping2.1 Historical Development and Denition of Mechatronic Systems历史发展和认识机电一体化系统In several technical areas the integration of products or processes and electronics can be observed. This is especially true for mechanical systems which developed since about 1980. These systems changed from electro-mechanical systems with discrete electrical and mechanical parts to integrated electronic-mechanical systems with sensors, actuators, and digital microelectronics. These integrated systems, as seen in Table 2.1, are called mechatronic systems, with the connection of MECHAnics and elecTRONICS.在一些技术领域的一体化产品或工艺和电子可以观察。这是尤其如此，因为大约1980的机械系统。这些系统由机械系统与离散机电配件综合电子系统的传感器，执行器，和数字微电子学。这些集成系统，如在表2.1中，被称为机电一体化系统，与连接的机械和电子产品。The word “mechatronics” was probably rst created by a Japanese engineer in 1969 1, with earlier denitions given by 2 and 3. In 4, a preliminary denition is given: “Mechatronics is the synergetic integration of mechanical engineering with electronics and intelligent computer control in the design and manufacturing of industrial products and processes” 5.“机电一体化”可能是复位造成的日本工程师在1969 1，与早期的nitions给予 2和 3。在 4，一个初步的定义是：机电一体化是机械和电子工程协同集成和计算机智能化控制的设计和制造工业产品和过程” 5。All these denitions agree that mechatronics is an interdisciplinary eld, in which the following disci- plines act together (see Fig. 2.1):所有的定义都同意机电一体化是一个跨学科，在以下学科这些样条一起行动（参见图2.1）： mechanical systems (mechanical elements, machines, precision mechanics);机械系统（机械零件，机，精密机械）； electronic systems (microelectronics, power electronics, sensor and actuator technology); and电子系统（微电子，电力电子，传感器和执行器技术）；和 information technology (systems theory, automation, software engineering, articial intelligence). ©2002 CRC Press LLC信息技术（系统理论，自动化，软件工程，人工人工智能）。2002©出版社有限公司TABLE 2.1 Historical Development of Mechanical, Electrical, and Electronic Systems 表2.1历史发展的机械，电气，电子系统FIGURE 2.1 Mechatronics: synergetic integration of different disciplines. 图2.1:协同融合各种不同机电专业。Some survey contributions describe the development of mechatronics; see 58. An insight into general aspects are given in the journals 4,9,10; first conference proceedings in 1115; and the books 1619.描述一些调查的发展贡献;见8仪器。洞察普遍方面期刊中给出了4、第九条、第十条;第一次会议论文集加利福尼亚州圣何塞市、16 - 19的书。Figure 2.2 shows a general scheme of a modern mechanical process like a power producing or a power 图2.2:显示了一个总体方案,体现了现代机械加工像电力生产或权力generating machine. A primary energy flows into the machine and is then either directly used for the energy consumer in the case of an energy transformer, or converted into another energy form in the case of an energy converter. The form of energy can be electrical, mechanical (potential or kinetic, hydraulic, pneumatic), chemical, or thermal. Machines are mostly characterized by a continuous or periodic (repetitive) energy flow. For other mechanical processes, such as mechanical elements or precision mechanical devices, piecewise or intermittent energy flows are typical. .2002 CRC Press LLC 机器发电。一个初始能量流入机器,然后,或直接用于能源消费的情况下,一个能量变压器或兑换成另一种能量形式在案件的能量转换器。形式的能量都可电气、机械(潜在的或动力学、液压、气动)、化学、热。机器大多是具有连续或定期(重复)能量流。其他机械加工,如机械元件或精密机械设备、分段连续或间歇能量的流动是典型的。2002 CRC出版社FIGURE 2.2 Mechanical process and information processing develop towards mechatronic systems. 图2.2机械加工和信息处理发展趋向机电系统。The energy flow is generally a product of a generalized flow and a potential (effort). Information on the state of the mechanical process can be obtained by measured generalized flows (speed, volume, or mass flow) or electrical current or potentials (force, pressure, temperature, or voltage). Together with reference variables, the measured variables are the inputs for an information flow through the digital electronics resulting in manipulated variables for the actuators or in monitored variables on a display. 通常是一个能量流的产品的生产流程和更广义的潜力(努力)。信息状态的机械过程可以得到广义流测量(速度、体积或质量流量)或电流或电位(力、压力、温度、电压)。结合参考变量,测量变量是一个信息的输入流量通过数码电子导致操控因素变量对执行机构,或者在监视显示器。The addition and integration of feedback information flow to a feedforward energy flow in a basically mechanical system is one characteristic of many mechatronic systems. This development presently influences the design of mechanical systems. Mechatronic systems can be subdivided into: 加法和整合的一种前馈反馈信息流向能量流动的一个基本机械系统是许多机电系统的特征之一。这种发展目前影响机械系统的设计。机电系统可分为:. mechatronic systems 机电系统. mechatronic machines 机电设备。. mechatronic vehicles 机械车辆. precision mechatronics精密机电一体化. micro mechatronics 微型机电一体化This shows that the integration with electronics comprises many classes of technical systems. In several cases, the mechanical part of the process is coupled with an electrical, thermal, thermodynamic, chemical, or information processing part. This holds especially true for energy converters as machines where, in addition to the mechanical energy, other kinds of energy appear. Therefore, mechatronic systems in a wider sense comprise mechanical and also non-mechanical processes. However, the mechanical part normally dominates the system. 这表明,有许多课程整合与电子技术系统。在某些州,机械过程的一部分是加上电、热、热力学、化学、信息处理的部分。这一点尤其是对于能量转换器,机器在什么地方,除了机械能,其他种类的能源出现。因此,在更广泛的意义上机电系统组成和机械工艺。机械然而,机械部分通常在系统。Because an auxiliary energy is required to change the fixed properties of formerly passive mechanical systems by feedforward or feedback control, these systems are sometimes also called active mechanical systems. 因为一个辅助能源是需要改变的固定资产的原被动机械系统的前馈反馈控制,或者这些系统有时也叫做活跃的机械系统。2.2 Functions of Mechatronic Systems Mechatronic systems permit many improved and new functions. This will be discussed by considering some examples. 功能的机电系统2.2机电系统允许许多改进和新的功能。这将是讨论了考虑一些例子。Division of Functions between Mechanics and Electronics For designing mechatronic systems, the interplay for the realization of functions in the mechanical and electronic part is crucial. Compared to pure mechanical realizations, the use of amplifiers and actuators with electrical auxiliary energy led to considerable simplifications in devices, as can be seen from watches, .2002 CRC Press LLC 之间的功能划分为设计机电机械、电子学系统的相互作用,为实现的功能在机械及电子零件是至关重要的。纯机械实现相比,使用放大器和执行器与电气辅助能源导致相当简化装置,从中我们可以看到从手表、.2002 CRC媒体公司electrical typewriters, and cameras. A further considerable simplification in the mechanics resulted from introducing microcomputers in connection with decentralized electrical drives, as can be seen from electronic typewriters, sewing machines, multi-axis handling systems, and automatic gears. The design of lightweight constructions leads to elastic systems which are weakly damped through the material. An electronic damping through position, speed, or vibration sensors and electronic feedback can be realized with the additional advantage of an adjustable damping through the algorithms. Examples are elastic drive chains of vehicles with damping algorithms in the engine electronics, elastic robots, hydraulic systems, far reaching cranes, and space constructions (with, for example, flywheels). 电子打字机,与闪光灯。进一步造成很大程度的简化力学引进的微机结合分散的电气传动,从中我们可以看到从电子打字机、缝纫机、多轴和自动处理系统、齿轮的设计结构导致弹性轻弱阻尼系统,通过材料。通过一个电子阻尼位置、速度、振动传感器和电子反馈可以实现的一个额外的优势可调阻尼通过算法。实例的车辆传动链弹性阻尼算法在发动机电子、弹性机器人、液压系统、深远的起重机,及空间结构,例如,掉转)。The addition of closed loop control for position, speed, or force not only results in a precise tracking of reference variables, but also an approximate linear behavior, even though the mechanical systems show nonlinear behavior. By omitting the constraint of linearization on the mechanical side, the effort for construction and manufacturing may be reduced. Examples are simple mechanical pneumatic and electromechanical actuators and flow valves with electronic control. With the aid of freely programmable reference variable generation the adaptation of nonlinear mechanical systems to the operator can be improved. This is already used for the driving pedal characteristics within the engine electronics for automobiles, telemanipulation of vehicles and aircraft, in development of hydraulic actuated excavators, and electric power steering. 加上闭环控制位置、速度、或强迫不仅导致精确跟踪参考变量,但也是一个近似线性行为,即使机械系统显示非线性行为。没有约束的线性化,对力学方面,为建筑业和制造业的努力可能会减少。例子很简单机械气动和机电作动器和流量阀和电子控制。与援助的可自由设定参考变量代适应非线性机械系统经营者可以改善。这是已用于驱动发动机内的踏板特性, 遥操作系统电子汽车车辆、飞机液压驱动,在发展挖掘机,电动助力转向。With an increasing number of sensors, actuators, switches, and control units, the cable and electrical connections increase such that reliability, cost, weight, and the required space are major concerns. Therefore, the development of suitable bus systems, plug systems, and redundant and reconfigurable electronic systems are challenges for the designer. mprovement of Operating Properties By applying active feedback control, precision is obtained not only through the high mechanical precision of a passively feedforward controlled mechanical element, but by comparison of a programmed reference variable and a measured control variable. Therefore, the mechanical precision in design and manufacturing may be reduced somewhat and more simple constructions for bearings or slideways can be used.与越来越多的传感器、执行器、开关、控制单元、电缆和电气连接,可靠性,成本增加,重量,所需的空间是主要的问题。因此,发展合适的总线系统、插头系统,电子系统的冗余和重构改良挑战的操作性能,采用主动反馈控制精度不仅通过较高的机械精度控制一个被动机械因素,但前馈的比较程序参考变量和测量控制变量。因此,在设计和制造机械精度可以减少有点以及更简单结构或导轨轴承可以使用。 An important aspect is the compensation of a larger and time variant friction by adaptive friction compensation 13,20. Also, a larger friction on cost of backlash may be intended (such as gears with pretension), because it is usually easier to compensate for friction than for backlash. 一个重要的方面就是补偿的另一个较大的时间通过自适应变异摩擦摩擦补偿13,20。同时,一个更大的摩擦成本反弹可能提供的(如齿轮矫饰),因为它是通常更容易弥补摩擦比反作用。Model-based and adaptive control allow for a wide range of operation, compared to fixed control with unsatisfactory performance (danger of instability or sluggish behavior). A combination of robust and adaptive control allows a wide range of operation for flow-, force-, or speed-control, and for processes like engines, vehicles, or aircraft. A better control performance allows the reference variables to move closer to the constraints with an improvement in efficiencies and yields (e.g., higher temperatures, pressures for combustion engines and turbines, compressors at stalling limits, higher tensions and higher speed for paper machines and steel mills). Addition of New Functions Mechatronic systems allow functions to occur that could not be performed without digital electronics. 基于模型和自适应控制提供了一个广泛的操作,而固定控制与业绩不理想(危险的不稳定性或缓慢的行为)。结合的鲁棒性和自适应控制允许广泛的操作流程,力- - - - - - - - - - - - - -或调速,并为过程(例如引擎、车辆、或飞机。一个更好的控制性能允许参考变量约束的接近和一种改进效率和产量(例如,较高的温度,压力为内燃机和涡轮机,压缩机在拖延时间限制,更高的紧张和更高的速度,对台纸机,钢厂)。增加新的功能机电系统允许函数不能履行时,没有数码电子。First, nonmeasurable quantities can be calculated on the basis of measured signals and influenced by feedforward or feedback control. Examples are time-dependent variables such as slip for tyres, internal tensities, temperatures, slip angle and ground speed for steering control of vehicles, or parameters like damping, stiffness coefficients, and resistances. The adaptation of parameters such as damping and stiffness for oscillating systems (based on measurements of displacements or accelerations) is another example. Integrated supervision and fault diagnosis becomes more and more important with increasing automatic functions, increasing complexity, and higher demands on reliability and safety. Then, the triggering of redundant components, system reconfiguration, maintenance-on-request, and any kind of teleservice make the system more “intelligent.” Table 2.2 summarizes some properties of mechatronic systems compared to conventional electro-mechanical systems. .2002 CRC Press LLC 首先不可测集数量可以计算出测量信号的基础上,受前馈或反馈控制时的性能。实例变量如滑动时间因为轮胎、内部tensities、温度、滑动角和地速度对车辆转向控制或参数,如阻尼、刚度系数和抗性。适应阻尼和刚度等参数对振动系统(基于测量位移或加速度)是另一个例子。综合监控与故障诊断变得越来越重要,随着自动功能日益复杂和更高的要求,对可靠性和安全性。然后,触发的不必要的元件,系统重构,维护请求,任何一种实现远程使系统更加“聪明。”表2.2中总结出一些性质TABLE 2.2 Properties of Conventional and Mechatronic Design Systems Conventional Design Mechatronic Design Added components Integration of components (hardware) 1 Bulky Compact 2 Complex mechanisms Simple mechanisms 3 Cable problems Bus or wireless communication 4 Connected components Autonomous units Simple control Integration by information processing (software) 5 Stiff construction Elastic construction with damping by electronic feedback 6 Feedforward control, linear (analog) control Programmable feedback (nonlinear) digital control 7 Precision through narrow tolerances Precision through measurement and feedback control 8 Nonmeasurable quantities change arbitrarily Control of nonmeasurable estimated quantities 9 Simple monitoring Supervision with fault diagnosis 10 Fixed abilities Learning abilities 表2.2常规和机电一体化设计系统属性的常规设计机电一体化设计增加了组件集成组件（硬件）1笨重的契约2简单的机制复杂的机制3电缆问题总线或无线通信4连接组件的自治单位简单的管控一体化信息处理（软件）5僵硬弹性建筑施工，电子反馈阻尼6前馈控制，可编程线性（模拟）控制反馈（非线性）的数字控制7通过测量和反馈控制，通过狭窄的公差精度的精密8不可测的数量随意变化，不可测的估计数量的控制9简单的监察与故障诊断10固定能力，学习能力FIGURE 2.3 General scheme of a (classical) mechanical-electronic system. 图2.3（古典）机械电子系统的总体方案。2.3 Ways of Integration Figure 2.3 shows a general scheme of a classical mechanical-electronic system. Such systems resulted fromadding available sensors, actuators, and analog or digital controllers to mechanical components. The limits of this approach were given by the lack of suitable sensors and actuators, the unsatisfactory life time under rough operating conditions (acceleration, temperature, contamination), the large space requirements, the required cables, and relatively slow data processing. With increasing improvements in miniaturization, robustness, and computing power of microelectronic components, one can now put more emphasis on electronics in the design of a mechatronic system. More autonomous systems can be envisioned, such as capsuled units with touchless signal transfer or bus connections, and robust mic