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dc.contributor.authorGoubej, Martin
dc.contributor.authorKönigsmarková, Jana
dc.contributor.authorKampinga, Ronald
dc.contributor.authorNieuwenkamp, Jakko
dc.contributor.authorPaquay, Stéphane
dc.date.accessioned2021-10-18T10:00:10Z-
dc.date.available2021-10-18T10:00:10Z-
dc.date.issued2021
dc.identifier.citationGOUBEJ, M. KÖNIGSMARKOVÁ, J. KAMPINGA, R. NIEUWENKAMP, J. PAQUAY, S. Employing finite element analysis and robust control concepts in mechatronic system design-flexible manipulator case study. Applied Sciences, 2021, roč. 11, č. 8, s. 1-41. ISSN: 2076-3417cs
dc.identifier.issn2076-3417
dc.identifier.uri2-s2.0-85104970882
dc.identifier.urihttp://hdl.handle.net/11025/45471
dc.format41 s.cs
dc.format.mimetypeapplication/pdf
dc.language.isoenen
dc.publisherMDPIen
dc.relation.ispartofseriesApplied Sciencesen
dc.rights© autořics
dc.titleEmploying finite element analysis and robust control concepts in mechatronic system design-flexible manipulator case studyen
dc.typečlánekcs
dc.typearticleen
dc.rights.accessopenAccessen
dc.type.versionpublishedVersionen
dc.description.abstract-translatedThe paper deals with development of a methodology for mechatronic system design using state-of-the-art model-based system engineering methods. A simple flexible robotic arm is considered as a benchmark problem for the evaluation of various techniques used in the phases of modelling, analysis, control system design, validation, and implementation. The flexible nature of the mechanical structure introduces inherently oscillatory dynamics in the target bandwidth range, which complicates all the above-mentioned design steps. This paper demonstrates the process of deriving a complex nonlinear model of the flexible arm setup. An initial idea about the plant dynamics is acquired from analytical modelling using the Euler–Bernoulli beam theory. A more thorough understanding is subsequently acquired from finite element analysis. Linearisation and order reduction are the next steps necessary for the derivation of a simplified control-relevant model. A time-dependent variable parameter of load mass position is considered and a robust controller is subsequently designed in order to fulfil certain performance criteria for all the admissible plant configurations. This is performed using a recent H-infinity loop shaping method for fixed structure controller design. The results are validated by means of a physical plant, comparing the experimental data with the model predictions.en
dc.subject.translatedDigital twinen
dc.subject.translatedfinite element analysisen
dc.subject.translatedflexible mechanical systemsen
dc.subject.translatedH-infinity loopshapingen
dc.subject.translatedmodel-based designen
dc.subject.translatedmodelling for controlen
dc.subject.translatedPID controlen
dc.subject.translatedrobust controlen
dc.identifier.doi10.3390/app11083689
dc.type.statusPeer-revieweden
dc.identifier.document-number643974600001
dc.identifier.obd43933030
dc.project.IDEF17_048/0007267/InteCom: VaV inteligentních komponent pokročilých technologií pro plzeňskou metropolitní oblastcs
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