外文翻译原文-以控制为中心的模拟器的机电一体化设计.pdf

INTERNATIONAL JOURNAL ON SMART SENSING AND INTELLIGENT SYSTEMS, VOL. 2, NO. 2, JUNE 2009 CONTROL-CENTRIC SIMULATOR FOR MECHATRONICS DESIGN Case Study: Gyroscopically Stabilized Single Wheel Robot Zhu Zhen, A. Al-Mamun and Myint Phone Naing Corresponding author: A. Al-Mamun (eleaam@.sg) Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Abstract— A 3-Dimensional simulation platform developed as an aid for designing complex mechatronics system is presented in this paper. It uses ADAMS for simulation with animation of the dynamic behavior of the mechanism whose parts are drawn using a 3-D drawing software e.g., SolidWorks. The overall simulation platform integrates the 3-D simulator ADAMS with control design software MATLAB. This integration allows the designer to adopt a control-centric approach for designing complex mechanical structure to be used in a mechatronics system. Dynamic analysis of single wheel robot is used in this paper as an example to illustrate its uses. The simulating environment can easily be extended to any complex mechanical system simply by altering SolidWorks drawings. Index Terms—Gyrobot, ADAMS, Single wheel robot, Dynamic simulation I. INTRODUCTION THIS article presents a control-centric approach for designing mechatronics systems. In this approach, design of controller is not treated as an isolated problem. Rather design of the mechanism and design of controller are considered intertwined. Two designs should be carried out concurrently. In this paper, we outline the method of concurrent desig