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Thomas Dehaeze 2021-05-11 21:36:29 +02:00
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content/book/schmidt14_desig_high_perfor_mechat_revis_edition.md → content/book/schmidt20_desig_high_perfor_mechat_third_revis_edition.md
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title = "The design of high performance mechatronics - 2nd revised edition" title = "The design of high performance mechatronics - third revised edition"
author = ["Thomas Dehaeze"] author = ["Thomas Dehaeze"]
draft = false draft = false
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@ -8,13 +8,13 @@ Tags
: [Reference Books]({{< relref "reference_books" >}}), [Dynamic Error Budgeting]({{< relref "dynamic_error_budgeting" >}}) : [Reference Books]({{< relref "reference_books" >}}), [Dynamic Error Budgeting]({{< relref "dynamic_error_budgeting" >}})
Reference Reference
: ([Schmidt, Schitter, and Rankers 2014](#orgddac163)) : ([Schmidt, Schitter, and Rankers 2020](#orgb78a2e6))
Author(s) Author(s)
: Schmidt, R. M., Schitter, G., & Rankers, A. : Schmidt, R. M., Schitter, G., & Rankers, A.
Year Year
: 2014 : 2020
Section 2.2 Mechanics Section 2.2 Mechanics
@ -29,9 +29,9 @@ Section 2.2.2 Force and Motion
> One should however be aware that another non-destructive source of non-linearity is found in a tried important field of mechanics, called _kinematics_. > One should however be aware that another non-destructive source of non-linearity is found in a tried important field of mechanics, called _kinematics_.
> The relation between angles and positions is often non-linear in such a mechanism, because of the changing angles, and controlling these often requires special precautions to overcome the inherent non-linearities by linearisation around actual position and adapting the optimal settings of the controller to each position. > The relation between angles and positions is often non-linear in such a mechanism, because of the changing angles, and controlling these often requires special precautions to overcome the inherent non-linearities by linearisation around actual position and adapting the optimal settings of the controller to each position.
<a id="org5a727b1"></a> <a id="org4daea15"></a>
{{< figure src="/ox-hugo/schmidt14_high_low_freq_regions.png" caption="Figure 1: Stabiliby condition and robustness of a feedback controlled system. The desired shape of these curves guide the control design by optimising the lvels and sloppes of the amplitude Bode-plot at low and high frequencies for suppression of the disturbances and of the base Bode-plot in the cross-over frequency region. This is called **loop shaping design**" >}} {{< figure src="/ox-hugo/schmidt20_high_low_freq_regions.png" caption="Figure 1: Stabiliby condition and robustness of a feedback controlled system. The desired shape of these curves guide the control design by optimising the lvels and sloppes of the amplitude Bode-plot at low and high frequencies for suppression of the disturbances and of the base Bode-plot in the cross-over frequency region. This is called **loop shaping design**" >}}
Section 4.3.3 Section 4.3.3
@ -42,7 +42,6 @@ Section 9.3: Mass Dilemma
> A reduced mass requires improved system dynamics that enable a higher control bandwidth to compensate for the increase sensitivity for external vibrations. > A reduced mass requires improved system dynamics that enable a higher control bandwidth to compensate for the increase sensitivity for external vibrations.
## Bibliography {#bibliography} ## Bibliography {#bibliography}
<a id="orgddac163"></a>Schmidt, R Munnig, Georg Schitter, and Adrian Rankers. 2014. _The Design of High Performance Mechatronics - 2nd Revised Edition_. Ios Press. <a id="orgb78a2e6"></a>Schmidt, R Munnig, Georg Schitter, and Adrian Rankers. 2020. _The Design of High Performance Mechatronics - Third Revised Edition_. Ios Press.

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