Modeling and control of flexible mechatronic systems

This thesis deals with modelling and control of flexible mechatronic systems. The flexible mechatronic systems under consideration are a spatial L-shape flexible mechanism and a cable driven parallel robot. Deformation of these mechatronic systems, which contain flexible parts, effect the behaviour of the whole mechatronic system. A finite element model, based on the equivalent rigid link system (ERLS) theory, is used in order to describe accurately the dynamic behaviour of the flexible mechanism. The Feriba-3 which is 3-DOF planar robot for description of cable driven robot is considered as a benchmark. The model of the flexible mechanism has been validated through the experimental tests in order to apply the linear quadratic (LQ) optimal controller, the constrained model predictive control (MPC), the robust control based on H ∞ loop shaping and μ-Synthesis and the hybrid position/force control for both position control and vibration damping in a spatial flexible L- shape mechanism and to regulate the external force applied to the mechanism as well with taking gravity force into account. In the purpose of applying linear quadratic (LQ) optimal controller on cable-driven parallel robots the kinematic equations of the system are developed. The synthesis of the controllers, used in this work for both spatial L-shape flexible mechanism and cable driven parallel robot, are described and the most important experimental results are presented and discussed