Introduction. Application of mechatronic and robotic systems in transport Construction principles and development trends

Spheres of application of mechatronic systems. The main advantages of mechatronic devices compared to traditional automation tools include: relatively low cost due to the high degree of integration of unification and standardization of all elements and interfaces; high quality of the implementation of complex and precise movements due to the use of intelligent control methods; high reliability, durability and noise immunity; constructive compactness of modules up to miniaturization and improved micromachines...

Share work on social networks

If this work does not suit you, there is a list of similar works at the bottom of the page. You can also use the search button

Lecture 4. Fields of application of mechatronic systems.

The main advantages of mechatronic devices compared to traditional automation tools include:

Relatively low cost due to the high degree of integration, unification and standardization of all elements and interfaces;

High quality of the implementation of complex and precise movements due to the use of intelligent control methods;

High reliability, durability and noise immunity;

The structural compactness of the modules (up to miniaturization and micromachines),

Improved weight and size dynamic characteristics machines due to the simplification of kinematic chains;

The ability to integrate functional modules into complex mechatronic systems and complexes for specific customer tasks.

The volume of world production of mechatronic devices is increasing every year, covering all new areas. Today, mechatronic modules and systems are widely used in the following areas:

Machine tool building and equipment for process automation
processes;

Robotics (industrial and special);

aviation, space and military equipment;

automotive industry (e.g. anti-lock brake systems,
vehicle motion stabilization and automatic parking systems);

non-traditional vehicles (electric bikes, cargo
trolleys, electric scooters, wheelchairs);

office equipment (for example, copiers and fax machines);

computer hardware (e.g. printers, plotters,
drives);

medical equipment (rehabilitation, clinical, service);

household appliances (washing, sewing, dishwasher and other
cars);

micromachines (for medicine, biotechnology, communications and
telecommunications);

control and measuring devices and machines;

photo and video equipment;

simulators for training pilots and operators;

Show industry (sound and lighting systems).

Of course, this list can be expanded.

The rapid development of mechatronics in the 90s as a new scientific and technical direction is due to three main factors:

New trends in world industrial development;

Development of fundamental bases and methodology of mechatronics (basic
scientific ideas, fundamentally new technical and technological
solutions);

activity of specialists in research and educational
spheres.

The current stage of development of automated mechanical engineering in our country is taking place in new economic realities, when there is a question about the technological viability of the country and the competitiveness of manufactured products.

The following trends of change in the key requirements of the world market in the area under consideration can be distinguished:

the need to produce and service equipment in accordance with
international system of quality standards formulated in
standard ISO 9000;

internationalization of the market of scientific and technical products and how
consequently, the need for active introduction into practice of forms and methods
international engineering and technology transfer;

increasing the role of small and medium-sized manufacturing enterprises in
economy through their ability to respond quickly and flexibly
to changing market requirements;

The rapid development of computer systems and technologies, telecommunications facilities (in the EEC countries in 2000, 60% of the growth of the total
the National Product occurred precisely due to these industries);
a direct consequence of this general trend is the intellectualization
control systems for mechanical motion and technological
functions of modern machines.

As the main classification feature in mechatronics, it seems appropriate to take the level of integration of the constituent elements.In accordance with this feature, mechatronic systems can be divided by levels or by generations, if we consider their appearance on the market of science-intensive products, historically mechatronic modules of the first level represent a combination of only two initial elements. A typical example of a first generation module is a "gear motor", where the mechanical gearbox and the controlled motor are produced as a single functional element. Mechatronic systems based on these modules have found wide application in the creation various means complex automation of production (conveyors, conveyors, rotary tables, auxiliary manipulators).

Second-level mechatronic modules appeared in the 80s in connection with the development of new electronic technologies, which made it possible to create miniature sensors and electronic components for processing their signals. Combining drive modules with these elements has led to the emergence of mechatronic motion modules, the composition of which fully corresponds to the definition introduced above, when the integration of three devices of different physical nature is achieved: mechanical, electrical and electronic. On the basis of mechatronic modules of this class, controlled power machines (turbines and generators), machine tools and industrial robots with numerical control have been created.

The development of the third generation of mechatronic systems is due to the appearance on the market of relatively inexpensive microprocessors and controllers based on them and is aimed at the intellectualization of all processes occurring in a mechatronic system, primarily the process of controlling the functional movements of machines and assemblies. At the same time, new principles and technologies for manufacturing high-precision and compact mechanical units are being developed, as well as new types of electric motors (primarily high-torque brushless and linear), feedback and information sensors. The synthesis of new precision, information and measurement science-intensive technologies provides the basis for the design and production of intelligent mechatronic modules and systems.

In the future, mechatronic machines and systems will be combined and mechatronic complexes based on common integration platforms. The purpose of creating such complexes is to achieve a combination high performance and at the same time the flexibility of the technical and technological environment due to the possibility of its reconfiguration, which will ensure competitiveness and high quality of products.

Modern enterprises embarking on the development and production of mechatronic products must solve the following main tasks in this regard:

Structural integration of departments of mechanical, electronic and informational profiles (which, as a rule, functioned autonomously and separately) into single design and production teams;

Training of "mechatronic-oriented" engineers and managers capable of system integration and management of the work of highly specialized specialists of various qualifications;

Integration of information technologies from various scientific and technical fields (mechanics, electronics, computer control) into a single toolkit for computer support of mechatronic tasks;

Standardization and unification of all used elements and processes in the design and manufacture of MS.

Solving these problems often requires overcoming the management traditions that have developed at the enterprise and the ambitions of middle managers who are accustomed to solving only their narrow-profile tasks. That is why medium and small enterprises that can easily and flexibly vary their structure are more prepared for the transition to the production of mechatronic products.

Other related works that may interest you.vshm>
9213.		Drives of mechatronic systems. MS control methods	35.4KB
	MS control methods. The drive, as is known, primarily includes a motor and a control device for it. The requirements for their speed and accuracy control method are directly determined by the corresponding requirements for the MS as a whole. Along with the general position feedback, the circuit has a speed feedback that plays the role of a corrective flexible feedback and often also serves to control the speed.
9205.		Application of mechatronic systems (MS) in automated process equipment	58.03KB
	The first automation tools appeared here and up to 80 of the entire world fleet of robotic tools is concentrated. Technological complexes with such robots are called RTK robotic technological complexes. The term robot technical systems RTS means technical systems for any purpose in which the main functions are performed by robots.
9201.		The use of mechatronic systems in road, water and air transport	301.35KB
	1 Integrated vehicle security system: 1 infrared receiver; 2 weather sensor rain humidity; 3 throttle actuator power system; 4 computer; 5 auxiliary solenoid valve in the brake drive; 6 ABS; 7 rangefinder; 8 automatic transmission; 9 vehicle speed sensor; 10 auxiliary steering solenoid valve; 11 accelerator sensor; 12 steering sensor;...
10153.		Scope of marketing. Marketing principles. Stages of marketing development. Basic marketing strategies. The external environment of the enterprise. Market types. market segment. Marketing toolkit	35.17KB
	market segment. There are three main areas of activity in enterprise management: rational use of available resources; organization of exchange processes of the enterprise with the external environment for the implementation of the tasks set by the owner; maintaining the organizational and technical level of production capable of meeting the challenges of the market. Therefore, relations outside the enterprise with other market participants are usually referred to as the marketing activity of the enterprise, which is not directly related to the actual production ...
6511.		Principles of inducing ARP systems for the cable line path of transmission systems from the FDC	123.51KB
	Additions of automatic regulation of the power are designated for regulation of the transmission lines of subsiluvach mains in the given boundaries and for the stabilization of excess extinguishing of the channels in the connection.
8434.		See cloud systems (AWP systems) of an accountant and	46.29KB
	Types of obl_kovih systems AWP systems of an accountant and їх budov 1. Structural budova of oblіkovih AWP systems. Pobudov's oblіkovy OS systems on the basis of AWP are characterized by a rich aspect of possible options for their motivation. Vidіlyayuchi klassifіkatsіynі znakatsіynі workstations vrakhovuyut such features їх їх pobudovі і provodzhennya аk structurally functional area occupied by the skin AWP rozpodіl functional tasks among the workstations ways to organize the tasks of communication with the workstations of one and the other factor in management.
5803.		Legal relations in the sphere of labor law	26.32KB
	The basis for the emergence of an employment relationship general rule considered an employment contract. It was the study and analysis of the employment contract that led scientists to study a more general phenomenon - the employment relationship. Legal relations in the sphere of labor law are relations between the subjects of a given branch of the employee and the employer, their legal connection, regulated by the norms of labor legislation.
5106.		The main types of study of management systems: marketing, sociological, economic (their features). Main directions of improvement of control systems	178.73KB
	In the conditions of the dynamism of modern production and social structure, management must be in a state of continuous development, which today cannot be achieved without exploring the ways and possibilities of this development.
3405.		The system of legal support of the SCTS sphere	47.95KB
	The role of law in providing social and cultural services and tourism. The most important prerequisite for the accelerated development of tourism in Russia to increase its socio-economic efficiency and significance for citizens of society and the state is the formation of the legislation of the Russian Federation, taking into account modern world experience and the traditions of domestic law. The Federal Law On the Fundamentals of Tourism Activities in the Russian Federation was adopted, further also the Law on Tourism, which played an important role in the development of tourism in Russia. Law...
19642.		Departments of the social sphere of the municipality	50.11KB
	Compliance with constitutional guarantees for the provision of medical care and the creation of favorable sanitary and epidemiological conditions for the life of the population implies structural transformations in the healthcare system, which include: - new approaches to making political decisions and forming budgets at all levels, taking into account the priority tasks of protecting public health; - formation of a new regulatory framework for the activities of healthcare institutions in a market economy; - priority in the healthcare system ...

Mechatronic modules are increasingly being used in various transport systems.

Fierce competition for automotive market forces specialists in this field to search for new advanced technologies. Today, one of the main problems for developers is to create "smart" electronic devices that can reduce the number of road traffic accidents (RTA). The result of work in this area was the creation of an integrated vehicle security system (SCBA), which is able to automatically maintain a given distance, stop the car at a red traffic light, and warn the driver that he overcomes a turn at a speed higher than is permissible by the laws of physics. Even shock sensors with a radio signaling device have been developed, which, when a car hits an obstacle or a collision, calls an ambulance.

All these electronic devices accident prevention fall into two categories. The first includes devices in the car that operate independently of any signals from external sources of information (other cars, infrastructure). They process information coming from the airborne radar (radar). The second category is systems based on data received from information sources located near the road, in particular from beacons, which collect traffic information and transmit it via infrared rays to passing cars.

SKBA has brought together a new generation of the devices listed above. It receives both radar signals and the infrared rays of "thinking" beacons, and in addition to the main functions, it ensures non-stop and calm traffic for the driver at unregulated intersections of roads and streets, limits the speed of movement on bends and in residential areas within the established speed limits. Like all autonomous systems, the SCBA requires the vehicle to be equipped with anti-lock braking system brakes (ABS) and automatic transmission.

SKBA includes a laser range finder that constantly measures the distance between the car and any obstacle along the way - moving or stationary. If a collision is likely, and the driver does not slow down, the microprocessor instructs to relieve pressure on the accelerator pedal, apply the brakes. A small screen on the instrument panel flashes a warning of danger. At the request of the driver, the on-board computer can set a safe distance depending on the road surface - wet or dry.

SCBA is able to drive a car, focusing on the white lines of road markings. But for this it is necessary that they be clear, since they are constantly “read” by the video camera on board. Image processing then determines the position of the machine in relation to the lines, and the electronic system acts on the steering accordingly.

On-board receivers of infrared rays of the SCBA operate in the presence of transmitters placed at certain intervals along the carriageway. The beams propagate in a straight line and over a short distance (up to about 120 m), and the data transmitted by coded signals cannot be either jammed or distorted.

Rice. 3.1 Integrated vehicle security system: 1 - infrared receiver; 2 — weather sensor (rain, humidity); 3 - throttle actuator of the power supply system; 4 - computer; 5 - auxiliary solenoid valve in the brake drive; 6 - ABS; 7 - rangefinder; 8 - automatic transmission; 9 - vehicle speed sensor; 10 - auxiliary steering solenoid valve; 11 - accelerator sensor; 12 - steering sensor; 13 - signal table; 14 - electronic vision computer; 15 - television camera; 16 - screen.

On fig. 3.2 shows the weather sensor company " boch ". Depending on the model, an infrared LED and one or three photodetectors are placed inside. The LED emits an invisible beam at an acute angle to the surface of the windshield. If it is dry outside, all the light is reflected back and hits the photodetector (this is how the optical system is designed). Since the beam is modulated by pulses, the sensor will not react to extraneous light. But if there are drops or a layer of water on the glass, the refraction conditions change, and part of the light escapes into space. This is detected by the sensor and the controller calculates the appropriate wiper operation. Along the way, this device can close the electric sunroof, raise the windows. The sensor has 2 more photodetectors, which are integrated into a common housing with a weather sensor. The first one is for automatic start headlights when it gets dark or the car enters a tunnel. The second, switches the "distant" and "dipped" light. Whether these functions are enabled depends on the particular vehicle model.

Fig.3.2 Working principle of the weather sensor

Anti-lock brake systems(ABS)its required components are wheel speed sensors, an electronic processor (control unit), servo valves, an electrically driven hydraulic pump and a pressure accumulator. Some early ABSs were "tri-channel", ie. controlled the front brakes individually, but completely released all the rear brakes at the start of blocking any of the rear wheels. This saved some amount of cost and complexity, but resulted in lower efficiency compared to a full four-channel system in which each brake mechanism is individually controlled.

ABS has much in common with traction control(PBS), whose action could be considered as “ABS in reverse”, since the PBS works on the principle of detecting the moment when one of the wheels begins to rotate rapidly compared to the other (the moment when slippage begins) and giving a signal to brake this wheel. Wheel speed sensors can be shared and therefore the most effective way to prevent the drive wheel from spinning by reducing its speed is to apply a momentary (and if necessary, repeated) brake action, braking impulses can be received from the ABS valve block. In fact, if ABS is present, this is all that is required to provide the EBS as well - plus some additional software and an additional control unit to reduce engine torque or reduce the amount of fuel supplied if necessary, or to directly intervene in the accelerator pedal control system .

On fig. 3.3 shows a diagram electronic system car power supply: 1 - ignition relay; 2 - central switch; 3 - battery; 4 - exhaust gas converter; 5 - oxygen sensor; 6 - air filter; 7 - mass air flow sensor; 8 - diagnostic block; 9 - idle speed regulator; 10 - throttle position sensor; 11 - throttle pipe; 12 - ignition module; 13 - phase sensor; 14 - nozzle; 15 - fuel pressure regulator; 16 - coolant temperature sensor; 17 - candle; 18 - crankshaft position sensor; 19 - knock sensor; twenty - fuel filter; 21 - controller; 22 - speed sensor; 23 - fuel pump; 24 - switching relay fuel pump; 25 - gas tank.

Rice. 3.3 Simplified diagram of the injection system

One of constituent parts SCBA is an airbag ( air bag ) (see Fig. 3.4), the elements of which are located in different parts of the car. Inertial sensors located in the bumper, at the motor shield, in the racks or in the armrest area (depending on the car model), in the event of an accident, send a signal to the electronic control unit. In most modern SCBAs, frontal sensors are designed for impact force at speeds of 50 km/h or more. The side ones work with weaker impacts. From the electronic control unit, the signal follows to the main module, which consists of a compactly laid pillow connected to the gas generator. The latter is a tablet with a diameter of about 10 cm and a thickness of about 1 cm with a crystalline nitrogen-generating substance. An electrical impulse ignites a squib in the “tablet” or melts the wire, and the crystals turn into gas with the speed of an explosion. The entire process described is very fast. The “medium” pillow inflates in 25 ms. The surface of the European standard pillow rushes towards the chest and face at a speed of about 200 km / h, and the American one - about 300. Therefore, in cars equipped with an airbag, manufacturers strongly advise to buckle up and not sit close to the steering wheel or dashboard. In the most "advanced" systems, there are devices that identify the presence of a passenger or a child seat and, accordingly, either turn off or correct the degree of inflation.

Rice. 3.4. Car Airbag:

1 - seat belt tensioner; 2 - airbag; 3 - airbag; for the driver; 4 - control unit and central sensor; 5 – executive module; 6 - inertial sensors

Engine weight 4.7 kg,

Rechargeable battery 36V, 6 Ah,

The basis for the creation of LTS are mechatronic modules of the "motor-wheel" type based, as a rule, on high-torque electric motors. Table 3.1 shows the technical characteristics of mechatronic motion modules for light vehicles. The global LTS market tends to expand, and according to forecasts, its capacity by 2000 was 20 million units, or $10 billion in value terms.

Table 3.1

LTS with electric drive	Technical indicators
LTS with electric drive		Maximum speed, km/h	Operating voltage, V	Power, kW	nominal moment, Nm	Rated current,	Weight, kg
Armchairs - strollers			0,15
Electro- bicycles
Rollerballs
Minielectro- mobiles

Sea transport.MS are increasingly used to intensify the work of crews of sea and river vessels associated with the automation and mechanization of the main technical means, which include the main power plant with service systems and auxiliary mechanisms, the electric power system, general ship systems, steering gear and engines.

Complex automatic systems keeping a ship on a given trajectory (SUZT) or a ship intended for the study of the World Ocean on a given profile line (SUZP) are systems that provide the third level of control automation. The use of such systems allows:

To increase the economic efficiency of maritime transportation by implementing the best trajectory, vessel movement, taking into account navigational and hydrometeorological conditions of navigation;

To increase the economic efficiency of oceanographic, hydrographic and marine geological exploration by increasing the accuracy of keeping the vessel on a given line of profile, expanding the range of wind wave disturbances, which ensure the required quality of control, and increasing the operating speed of the vessel;

Solve the problems of realizing the optimal trajectory of the vessel when it diverges from dangerous objects; improve safety of navigation near navigational hazards through more precise control of the vessel's movement.
Integrated automatic motion control systems according to a given geophysical research program (ASUD) are designed to automatically bring the vessel to a given profile line, automatically keep the geological and geophysical vessel on the profile line being studied, and maneuver when switching from one profile line to another. The system under consideration makes it possible to increase the efficiency and quality of marine geophysical surveys.

In marine conditions, it is impossible to use conventional methods of preliminary exploration (search party or detailed aerial photography), therefore, the seismic method of geophysical research has become the most widely used (Fig. 3.5). The geophysical vessel 1 tows a pneumatic gun 3, which is a source of seismic vibrations, a seismographic spit 4, on which receivers of reflected seismic vibrations are located, and an end buoy 5, on a cable-cable 2. The bottom profiles are determined by recording the intensity of seismic vibrations reflected from the boundary layers of 6 different -breeds.

Rice. 3.5. Scheme of geophysical surveys.

To obtain reliable geophysical information, the vessel must be kept at a given position relative to the bottom (profile line) with high accuracy, despite the low speed (3–5 knots) and the presence of towed devices of considerable length (up to 3 km) with limited mechanical strength.

The firm "Anjutz" has developed an integrated MS that ensures the vessel is kept on a given trajectory. On fig. 3.6 shows a block diagram of this system, which includes: gyrocompass 1; lag 2; appliances navigation systems, determining the position of the vessel (two or more) 3; autopilot 4; minicomputer 5 (5 a - interface, 5 b - central storage device, 5 v - central processing unit); punched tape reader 6; plotter 7; display 8; keyboard 9; steering machine 10.

With the help of the system under consideration, it is possible to automatically bring the ship to a programmed trajectory, which is set by the operator using a keyboard that determines the geographical coordinates of the turning points. In this system, regardless of the information coming from any one group of instruments of a traditional radio navigation complex or satellite communication devices that determine the position of the vessel, the coordinates of the probable position of the vessel are calculated from the data provided by the gyrocompass and log.

Rice. 3.6. Structural diagram of the integrated MS for keeping the ship on a given trajectory

The course control with the help of the system under consideration is carried out by an autopilot, which receives information about the value of the given course ψ ass , formed by the mini-computer taking into account the error in the position of the ship. The system is assembled in the control panel. In its upper part there is a display with controls for setting the optimal image. Below, on the inclined field of the console, there is an autopilot with control handles. On the horizontal field of the console there is a keyboard, with the help of which programs are entered into the mini-computer. There is also a switch with which the control mode is selected. In the base part of the control panel there are a mini-computer and an interface. All peripheral equipment is placed on special stands or other consoles. The system under consideration can operate in three modes: "Course", "Monitor" and "Program". In the "Course" mode, a given course is maintained with the help of an autopilot according to the readings of the gyrocompass. The "Monitor" mode is selected when the transition to the "Program" mode is being prepared, when this mode is interrupted, or when the transition through this mode is completed. The “Course” mode is switched over when malfunctions of the mini-computer, power sources or radio navigation complex are detected. In this mode, the autopilot operates independently of the mini-computer. In the "Program" mode, the course is controlled according to the data of radio navigation devices (position sensors) or a gyrocompass.

Maintenance of the ship's containment system on the ST is carried out by the operator from the control panel. The choice of a group of sensors to determine the position of the vessel is made by the operator according to the recommendations presented on the display screen. At the bottom of the screen is a list of all commands allowed for this mode, which can be entered using the keyboard. Accidental pressing of any prohibited key is blocked by the computer.

Aviation technology.The successes achieved in the development of aviation and space technology, on the one hand, and the need to reduce the cost of targeted operations, on the other hand, stimulated the development of a new type of technology - remotely piloted aircraft (RPV).

On fig. 3.6 shows a block diagram of the RPV remote flight control system - HIMAT . The main component of the remote piloting system HIMAT is a ground remote control point. The UAV flight parameters are received at the ground point via a radio link from the aircraft, are received and decoded by the telemetry processing station and transmitted to the ground part of the computer system, as well as to information display devices at the ground control point. In addition, a picture of the external view displayed by a television camera is received from the RPV. The television image displayed on the screen of the ground workplace of the human operator is used to control the aircraft during air maneuvers, landing approach and landing itself. The cockpit of the ground remote control station (operator's workplace) is equipped with devices that provide indication of information about the flight and the state of the equipment of the RPV complex, as well as means for controlling the aircraft. In particular, at the disposal of the human operator there are handles and pedals for controlling the aircraft in roll and pitch, as well as an engine control handle. In the event of a failure of the main control system, the commands of the control system are given through a special remote control for discrete commands of the RPV operator.

Rice. 3.6 RPV remote piloting system HIMAT :

carrier B-52; 2 - backup control system on the aircraft TF-104G ; 3 – line of telemetric communication with the ground; 4 - RPV HIMAT ; 5 - lines of telemetric communication with RPV; 5 - ground station for remote piloting

As an autonomous navigation system that provides dead reckoning, Doppler ground speed and drift angle meters (DPSS) are used. Such a navigation system is used in conjunction with a heading system that measures the heading with a vertical sensor that generates roll and pitch signals, and an on-board computer that implements the dead reckoning algorithm. Together, these devices form a Doppler navigation system (see Figure 3.7). In order to increase the reliability and accuracy of measuring the current coordinates of the aircraft, DISS can be combined with speed meters.

Rice. 3.7 Diagram of a Doppler navigation system

5. Mechatronic vehicles

Mechatronic modules are increasingly being used in various transport systems. In this manual, we will limit ourselves to a brief analysis of only light vehicles (LTV) with an electric drive (sometimes they are called non-traditional). This new group of vehicles for the domestic industry includes electric bicycles, scooters, wheelchairs, electric vehicles with autonomous power sources.

LTS are an alternative to vehicles with engines internal combustion and are currently used in ecologically clean areas (health and recreation, tourist, exhibition, park complexes), as well as in retail and storage facilities. Consider the technical characteristics of a prototype electric bike:

Maximum speed 20 km/h,

Rated drive power 160 W,

Rated speed 160 rpm,

Maximum torque 18 Nm,

Engine weight 4.7 kg,

Rechargeable battery 36V, 6 Ah,

Driving offline 20 km.

The basis for the creation of LTS are mechatronic modules of the "motor-wheel" type based, as a rule, on high-torque electric motors. Table 3 shows the technical characteristics of mechatronic motion modules for light vehicles.

LTS with electric drive	Technical indicators
LTS with electric drive		Maximum speed, km/h	Operating voltage, V	Power, kWt	Rated torque, Nm	Rated current, A	Weight, kg
Wheelchairs			0.15
Electric bicycles
Rollerballs
mini electric cars		ON

The global LTS market tends to expand and, according to forecasts, by the year 2000 its capacity will be 20 million units, or $10 billion in value terms.

T ermin " mechatronics"Introduced by Tetsuro Moria (Tetsuro Mori) engineer of the Japanese company Yaskawa Electric (Yaskawa electrician) in 1969. Term consists of two parts - "fur", from the word mechanics, and "tronics", from the word electronics. In Russia, before the term "mechatronics" appeared, devices with the name "mechanotrons" were used.

Mechatronics is a progressive direction in the development of science and technology, focused on the creation and operation of automatic and automated machines and systems with computer (microprocessor) control of their movement. The main task of mechatronics is the development and creation of high-precision, highly reliable and multifunctional control systems for complex dynamic objects. The simplest examples of mechatronics are the braking system of a car with ABS (anti-lock braking system) and industrial CNC machines.

The largest developer and manufacturer of mechatronic devices in the world bearing industry is the companySNR. The company is known as a pioneer in the field of "sensor" bearings, c who created the "know-how" technology c using multi-pole magnetic rings and measuring components integrated into mechanical parts. ExactlySNRpioneered the use of wheel bearings with an integrated rotation speed sensor based on a unique magnetic technology –ASB® (Active Sensor Bearing), which is now the standard recognized and used by almost all major car manufacturers in Europe and Japan. More than 82 million such devices have already been produced, and by 2010 almost 50% of all wheel bearings in the world produced by various manufacturers will use the technologyASB®. Such widespread useASB®once again proves the reliability of these solutions, providing high accuracy of measurement and transmission of digital information in the most aggressive environments (vibrations, dirt, large temperature differences, etc.).

Illustration : SNR

Bearing structure ASB®

The main advantages of technologyASB®used in the automotive industry are:

this compact and economical solution can also be used on lower price range vehicles, not just expensive cars unlike many other competitive technologies,

it is a progressive technology in the study of automotive comfort and safety,

this is the main element in the concept of “total chassis control”,

it is an open standard that provides the lowest licensing costs for manufacturers of bearings and electronic components.

Technology ASB®in 1997 at the exhibition EquipAuto in Paris received the first Grand Prix in the nomination "New technologies for original (conveyor) production".

In 2005 EquipAuto SNRsuggested further developmentASB®– a special system with a rotation angle sensorASB® Steering System, designed to measure the angle of rotation of the steering wheel, which will optimize the operation of the car's electronic systems and increase the level of safety and comfort. The development of this system began in 2003, with the efforts ofCONTINENTAL TEVES and SNR Routines. In 2004, the first prototypes were ready. Field testASB® Steering Systemwere held in March 2005 in Sweden on cars Mercedes C -class and showed excellent results. In serial productionASB® Steering Systemshould enter in 2008.

Illustration : SNR

ASB® Steering System

Key BenefitsASB® Steering System will become:

simpler design,

ensuring a low noise level,

lower cost,

size optimization…

With more than 15 years of experience in the development and manufacture of mechatronic devices, the company offers customers not only from the automotive industry, but also from industry and aerospace - “mechatronic” bearingsSensor Line. These bearings have inherited unsurpassed reliabilityASB®, full integration and compliance with international standards ISO.

Located in the very center of movement, the sensorSensor Linetransmits information about the angular displacement and rotational speed for more than 32 periods per revolution. Thus, the functions of the bearing and the measuring device are combined, which has a positive effect on the compactness of the bearing and the equipment as a whole, while providing a competitive price in relation to standard solutions (based on optical sensors).

Photo : SNR

includes:

Patented multi-track and multi-pole magnetic ring that generates a magnetic field of a certain shape;

Special electronic component MPS 32 XF converts information about the change in the magnetic field into a digital signal.

Photo : Torrington

MPS 32 XF component

Sensor Line Encodercan achieve a resolution of 4096 pulses per revolution with a reading radius of only 15 mm, providing a positioning accuracy of more than 0.1°! In this way,Sensor Line Encoderin many cases can replace the standard optical encoder, while givingadditional functions.

Device Sensor Line Encodercan provide the following data with high accuracy and reliability:

angular position,

Speed,

direction of rotation

Number of turns,

temperature.

Unique properties of the new deviceSNRwere recognized in the world of electronics at the stage of prototypes. Special sensor MPS 32 XF won the grand prize Gold Award at Sensor Expo 2001 in Chicago (USA).

CurrentlySensor Line Encoderfinds its application:

v mechanical transmissions;

in conveyors;

in robotics;

in vehicles;

in forklifts;

in control, measurement and positioning systems.

Photo : SNR

One of the further projects, which should finish in 2010-11, isASB®3– a bearing with an integrated torque sensor based on the use of tunnel magnetoresistance. The use of tunnel magnetoresistance technology makes it possible to provide:

high sensitivity of the sensor,

low energy consumption,

the best signal in relation to the noise level,

wider temperature range.

ASB®4, which is scheduled for release in 2012-15, will complete the opening of the era of information technology for the bearing industry. For the first time, a self-diagnostic system will be integrated, which will allow, for example, the bearing lubrication temperature or its vibration to find out the condition of the bearing.

], a field of science and technology based on the synergistic combination of precision mechanics units with electronic, electrical and computer components, which ensures the design and production of qualitatively new modules, systems and machines with intelligent control of their functional movements. The term "Mechatronics" (English "Mechatronics", German "Mechatronic") was introduced by the Japanese company Yaskawa Electric Corp. » in 1969 and registered as a trademark in 1972. Note that in the domestic technical literature back in the 1950s. a similarly formed term was used - "mechatrons" (electronic tubes with movable electrodes, which were used as vibration sensors, etc.). Mechatronic technologies include design, production, information and organizational and economic processes that provide a full life cycle of mechatronic products.

Subject and method of mechatronics

The main task of mechatronics as a direction of modern science and technology is to create competitive motion control systems for various mechanical objects and intelligent machines that have qualitatively new functions and properties. The method of mechatronics consists (when constructing mechatronic systems) in system integration and the use of knowledge from previously isolated scientific and engineering areas. These include precision mechanics, electrical engineering, hydraulics, pneumatics, computer science, microelectronics and computer control. Mechatronic systems are built by synergistic integration of structural modules, technologies, energy and information processes, from the stage of their design to production and operation.

In the 1970s–80s. three basic directions - the axes of mechatronics (precise mechanics, electronics and computer science) were integrated in pairs, forming three hybrid directions (shown in Fig. 1 by the side faces of the pyramid). These are electromechanics (combination of mechanical components with electrical products and electronic components), computer control systems (hardware and software combination of electronic and control devices), as well as computer-aided design (CAD) systems for mechanical systems. Then - already at the junction of hybrid areas - mechatronics arises, the formation of which as a new scientific and technical direction begins in the 1990s.

Elements of mechatronic modules and machines have a different physical nature (mechanical motion converters, motors, information and electronic units, control devices), which determines the interdisciplinary scientific and technical problems of mechatronics. Interdisciplinary tasks also determine the content of educational programs for the training and advanced training of specialists who are focused on the system integration of devices and processes in mechatronic systems.

Construction principles and development trends

The development of mechatronics is a priority area of modern science and technology throughout the world. In our country, mechatronic technologies as the basis for building new generation robots are included among the critical technologies of the Russian Federation.

Among the current requirements for mechatronic modules and systems of the new generation are: performance of qualitatively new service and functional tasks; intelligent behavior in changing and uncertain external environments based on new methods of managing complex systems; ultra-high speeds to achieve a new level of performance of technological complexes; high-precision movements in order to implement new precision technologies, up to micro- and nanotechnologies; compactness and miniaturization of structures based on the use of micromachines; increasing the efficiency of multi-coordinate mechatronic systems based on new kinematic structures and structural layouts.

The construction of mechatronic modules and systems is based on the principles of parallel design (English - concurrent engineering), the exclusion of multi-stage transformations of energy and information, the constructive combination of mechanical units with digital electronic units and control controllers into single modules.

A key design principle is the transition from complex mechanical devices to combined solutions based on the close interaction of simpler mechanical elements with electronic, computer, information and intelligent components and technologies. Computer and intelligent devices give the mechatronic system flexibility, since they are easy to reprogram for a new task, and they are able to optimize the properties of the system under changing and uncertain factors acting from the external environment. It is important to note that in recent years the price of such devices has been constantly decreasing while expanding their functionality.

Trends in the development of mechatronics are associated with the emergence of new fundamental approaches and engineering methods for solving problems of technical and technological integration of devices of various physical nature. The layout of a new generation of complex mechatronic systems is formed from intelligent modules (“mechatronics cubes”) that combine executive and intelligent elements in one housing. System motion control is carried out with the help of information environments to support solutions of mechatronic problems and special software that implements computer and intelligent control methods.

The classification of mechatronic modules according to structural features is shown in fig. 2.

The motion module is a structurally and functionally independent electromechanical assembly, which includes mechanical and electrical (electrotechnical) parts, which can be used as a separate unit or in various combinations with other modules. The main difference between the motion module and the general industrial electric drive is the use of the motor shaft as one of the elements of the mechanical motion converter. Examples of motion modules are a motor-reducer, a motor-wheel, a motor-drum, an electrospindle of a machine.

Motor-reducers are historically the first mechatronic modules in terms of their construction, which began to be mass-produced, and are still widely used in drives of various machines and mechanisms. In the motor-reducer, the shaft is structurally a single element for the motor and the motion converter, which eliminates the traditional coupling, thus achieving compactness; this significantly reduces the number of connecting parts, as well as the cost of installation, debugging and start-up. In gear motors, the most commonly used electric motors are asynchronous motors with a squirrel-cage rotor and an adjustable shaft speed converter, single-phase motors and DC motors. Gear cylindrical and bevel, worm, planetary, wave and screw gears are used as motion converters. To protect against the action of sudden overloads, torque limiters are installed.

The mechatronic motion module is a structurally and functionally independent product that includes a controlled engine, mechanical and information devices (Fig. 2). As follows from this definition, in comparison with the motion module, an information device is additionally integrated into the mechatronic motion module. The information device includes sensors for feedback signals, as well as electronic blocks for signal processing. Examples of such sensors are photopulse sensors (encoders), optical rulers, rotating transformers, force and moment sensors, etc.

An important milestone development of mechatronic motion modules began the development of modules of the "engine-working body" type. Such constructive modules are of particular importance for technological mechatronic systems, the purpose of which is the implementation of the targeted impact of the working body on the object of work. Mechatronic motion modules of the "engine-working body" type are widely used in machine tools called motor-spindles.

An intelligent mechatronic module (IMM) is a structurally and functionally independent product built by synergistic integration of motor, mechanical, information, electronic and control parts.

Thus, in comparison with mechatronic motion modules, control and power electronic devices are additionally built into the IMM design, which gives these modules intellectual properties (Fig. 2). The group of such devices includes digital computing devices (microprocessors, signal processors, etc.), electronic power converters, interface and communication devices.

The use of intelligent mechatronic modules gives mechatronic systems and complexes a number of fundamental advantages: the ability of the IMM to perform complex movements independently, without recourse to the upper control level, which increases the autonomy of the modules, the flexibility and survivability of mechatronic systems operating in changing and uncertain environmental conditions; simplification of communications between the modules and the central control unit (up to the transition to wireless communications), which makes it possible to achieve increased noise immunity of the mechatronic system and its ability to quickly reconfigure; increasing the reliability and safety of mechatronic systems due to computer diagnostics malfunctions and automatic protection in emergency and abnormal modes of operation; creation of distributed control systems based on IMM using network methods, hardware and software platforms based on personal computers and related software; the use of modern methods of management theory (adaptive, intelligent, optimal) directly at the executive level, which significantly improves the quality of management processes in specific implementations; intellectualization of power converters that are part of the IMM, for the implementation directly in the mechatronic module of intelligent functions for controlling movement, protecting the module in emergency modes and troubleshooting; Intellectualization of sensors for mechatronic modules allows to achieve higher measurement accuracy by providing programmatically noise filtering, calibration, linearization of input/output characteristics, compensation of cross-couplings, hysteresis and zero drift in the sensor module itself.

Mechatronic systems

Mechatronic systems and modules have entered both professional activities and everyday life of a modern person. Today they are widely used in various fields: automotive industry (automatic transmissions, anti-lock brakes, motor-wheel drive modules, automatic parking systems); industrial and service robotics (mobile, medical, home and other robots); computer peripherals and office equipment: printers, scanners, CD drives, copiers and fax machines; production, technological and measuring equipment; home appliances: washing machines, sewing machines, dishwashers and autonomous vacuum cleaners; medical systems (for example, equipment for robotic-assisted surgery, wheelchairs and prostheses for the disabled) and sports equipment; aviation, space and military equipment; microsystems for medicine and biotechnology; elevator and warehouse equipment, automatic doors in airport hotels, subway and train cars; transport devices (electric cars, electric bicycles, wheelchairs); photo and video equipment (video disc players, video camera focusing devices); moving devices for the show industry.

The choice of the kinematic structure is the most important task in the conceptual design of new generation machines. The effectiveness of its solution largely determines the main technical characteristics of the system, its dynamic, speed and accuracy parameters.

It was mechatronics that gave new ideas and methods for designing moving systems with qualitatively new properties. An effective example of such a solution was the creation of machines with parallel kinematics (MPK) (Fig. 3).

Their design is usually based on the Hugh-Stewart platform (a type of parallel manipulator with 6 degrees of freedom; an octahedral arrangement of racks is used). The machine consists of a fixed base and a movable platform, which are connected to each other by several rods with a controlled length. The rods are connected to the base and platform by kinematic pairs, which have two and three degrees of freedom, respectively. A working body (for example, a tool or measuring head) is installed on the movable platform. By programmatically adjusting the lengths of the rods using linear displacement drives, it is possible to control the movements and orientation of the movable platform and the working body in space. For universal machines, where it is required to move the working body as a solid body along six degrees of freedom, it is necessary to have six rods. In world literature, such machines are called "hexapods" (from the Greek. ἔ ξ - six).

The main advantages of machines with parallel kinematics are: high accuracy of execution of movements; high speeds and accelerations of the working body; the absence of traditional guides and a frame (drive mechanisms are used as structural elements), hence the improved weight and size parameters, and low material consumption; a high degree of unification of mechatronic units, providing manufacturability and assembly of the machine and design flexibility.

The increased accuracy of the MPC is due to the following key factors:

in hexapods, in contrast to kinematic schemes with a serial chain of links, there is no superposition (superposition) of errors in the positioning of links during the transition from the base to the working body;

rod mechanisms have high rigidity, since the rods are not subject to bending moments and work only in tension-compression;

precision feedback sensors and measuring systems (for example, laser ones) are used, as well as computer methods for correcting the movements of the working body.

Due to the increased accuracy, MPCs can be used not only as processing equipment, but also as measuring machines. The high rigidity of the MPC allows them to be used in power technological operations. So, in fig. Figure 4 shows an example of a hexapod that performs bending operations as part of the HexaBend technological complex for the production of complex profiles and pipes.

Computer and intelligent control in mechatronics

The use of computers and microcontrollers that implement computer control of the movement of various objects is characteristic feature mechatronic devices and systems. Signals from various sensors that carry information about the state of the components of the mechatronic system and the actions applied to this system are sent to the control computer. The computer processes information in accordance with the digital control algorithms embedded in it and forms control actions on the executive elements of the system.

The computer plays a leading role in the mechatronic system, since computer control makes it possible to achieve high accuracy and productivity, implement complex and efficient control algorithms that take into account the nonlinear characteristics of control objects, changes in their parameters and the influence of external factors. Due to this, mechatronic systems acquire new qualities while increasing durability and reducing the size, weight and cost of such systems. Achieving a new, higher level of system quality due to the ability to implement highly effective and complex laws computer control allows us to speak of mechatronics as an emerging computer paradigm of the modern development of technical cybernetics.

A typical example of a computer-controlled mechatronic system is a precision servo drive based on a non-contact multi-phase electric machine. alternating current with vector control. The presence of a group of sensors, including a high-precision motor shaft position sensor, digital information processing methods, computer implementation of control laws, transformations based on the use of a mathematical model of an electric machine, and a high-speed controller allows you to build a precision high-speed drive with a service life of up to 30-50 thousand hours or more.

Computer control turns out to be very effective in the construction of multi-coordinate nonlinear mechatronic systems. In this case, the computer analyzes data on the state of all components and external influences, performs calculations and generates control actions on the executive components of the system, taking into account the features of its mathematical model. As a result, a high quality of control of a coordinated multi-coordinate movement is achieved, for example, the working body of a mechatronic technological machine or a mobile robot.

A special role in mechatronics is played by intelligent control, which is a higher stage in the development of computer control and implements various artificial intelligence technologies. They enable the mechatronic system to reproduce to some extent the intellectual abilities of a person and, on this basis, make decisions about rational actions to achieve the goal of control. The most effective intelligent control technologies in mechatronics are fuzzy logic technologies, artificial neural networks and expert systems.

The use of intelligent control makes it possible to ensure high efficiency of the functioning of mechatronic systems in the absence of a detailed mathematical model of the control object, under the influence of various uncertain factors and at the risk of unforeseen situations in the system operation.

The advantage of intelligent control of mechatronic systems is that often the construction of such systems does not require their detailed mathematical model and knowledge of the laws of change of external influences acting on them, and control is based on the experience of highly qualified experts.

Mechatronic modules are increasingly being used in various transport systems.

A modern car as a whole is a mechatronic system that includes mechanics, electronics, various sensors, an on-board computer that monitors and regulates the activity of all car systems, informs the user and brings control from the user to all systems. The automotive industry at the present stage of its development is one of the most promising areas for the introduction of mechatronic systems due to increased demand and increasing motorization of the population, as well as due to the presence of competition between individual manufacturers.

If we classify a modern car according to the principle of control, it belongs to anthropomorphic devices, because. its movement is controlled by man. Already now we can say that in the foreseeable future of the automotive industry, we should expect the appearance of cars with the possibility of autonomous control, i.e. with an intelligent traffic control system.

Fierce competition in the automotive market forces specialists in this field to search for new advanced technologies. Today, one of the main problems for developers is to create "smart" electronic devices that can reduce the number of road traffic accidents (RTA). The result of work in this area was the creation of an integrated vehicle security system (SCBA), which is able to automatically maintain a given distance, stop the car at a red traffic light, and warn the driver that he overcomes a turn at a speed higher than is permissible by the laws of physics. Even shock sensors with a radio signaling device have been developed, which, when a car hits an obstacle or a collision, calls an ambulance.

All these electronic accident prevention devices fall into two categories. The first includes devices in the car that operate independently of any signals from external sources of information (other cars, infrastructure). They process information coming from the airborne radar (radar). The second category is systems based on data received from information sources located near the road, in particular from beacons, which collect traffic information and transmit it via infrared rays to passing cars.

SKBA has brought together a new generation of the devices listed above. It receives both radar signals and the infrared rays of "thinking" beacons, and in addition to the main functions, it ensures non-stop and calm traffic for the driver at unregulated intersections of roads and streets, limits the speed of movement on bends and in residential areas within the established speed limits. Like all autonomous systems, SCBA requires the vehicle to be equipped with an anti-lock brake system (ABS) and an automatic transmission.

SCBA (Fig. 5.22) is able to drive a car, focusing on the white lines of the road surface markings. But for this it is necessary that they be clear, since they are constantly “read” by the video camera on board. Image processing then determines the position of the machine in relation to the lines, and the electronic system acts on the steering accordingly.

Rice. 5.22. Integrated vehicle security system: 1 - infrared receiver; 2 - weather sensor (rain, humidity); 3 - throttle actuator of the power supply system; 4 - computer; 5 - auxiliary solenoid valve in the brake drive; 6 - ABS; 7 - rangefinder; 8 - automatic transmission; 9 - vehicle speed sensor; 10 - auxiliary steering solenoid valve; 11 - accelerator sensor; 12 - steering sensor; 13 - signal table; 14 - electronic vision computer; 15 - television camera; 16 - screen.

On fig. 5.23 shows the Boch weather sensor. Depending on the model, an infrared LED and one or three photodetectors are placed inside. The LED emits an invisible beam at an acute angle to the surface of the windshield. If it is dry outside, all the light is reflected back and hits the photodetector (this is how the optical system is designed). Since the beam is modulated by pulses, the sensor will not react to extraneous light. But if there are drops or a layer of water on the glass, the refraction conditions change, and part of the light escapes into space. This is detected by the sensor and the controller calculates the appropriate wiper operation. Along the way, this device can close the electric sunroof, raise the windows. The sensor has 2 more photodetectors, which are integrated into a common housing with a weather sensor. The first is designed to automatically turn on the headlights when it gets dark or the car enters the tunnel. The second, switches the "distant" and "dipped" light. Whether these functions are enabled depends on the particular vehicle model.

Fig.5.23. The principle of operation of the weather sensor

Anti-lock braking system (ABS), its required components are wheel speed sensors, an electronic processor (control unit), servo valves, an electrically driven hydraulic pump and a pressure accumulator. Some early ABSs were "tri-channel", ie. controlled the front brakes individually, but completely released all the rear brakes at the start of blocking any of the rear wheels. This saved some amount of cost and complexity, but resulted in lower efficiency compared to a full four-channel system in which each brake mechanism is individually controlled.

ABS has much in common with the traction control system (SBS), whose action could be considered as "ABS in reverse", since the SBS works on the principle of detecting the moment when one of the wheels begins to rapidly rotate compared to the other (the moment when slippage begins) and giving a signal to brake this wheel. Wheel speed sensors can be shared and therefore the most effective way to prevent the drive wheel from spinning by reducing its speed is to apply a momentary (and if necessary, repeated) brake action, braking impulses can be received from the ABS valve block. In fact, if ABS is present, this is all that is required to provide the EAS as well - plus some additional software and an additional control unit to reduce engine torque or reduce the amount of fuel supplied if necessary, or to directly intervene in the accelerator pedal control system .

On fig. 5.24 shows a diagram of the car's electronic power system: 1 - ignition relay; 2 - central switch; 3 - battery; 4 - exhaust gas converter; 5 - oxygen sensor; 6 - air filter; 7 - mass air flow sensor; 8 - diagnostic block; 9 - idle speed regulator; 10 - throttle position sensor; 11 - throttle pipe; 12 - ignition module; 13 - phase sensor; 14 - nozzle; 15 - fuel pressure regulator; 16 - coolant temperature sensor; 17 - candle; 18 - crankshaft position sensor; 19 - knock sensor; 20 - fuel filter; 21 - controller; 22 - speed sensor; 23 - fuel pump; 24 - relay for turning on the fuel pump; 25 - gas tank.

Rice. 5.24. Simplified diagram of the injection system

One of the components of the SCBA is an airbag (see Fig. 5.25.), The elements of which are located in different parts of the car. Inertial sensors located in the bumper, at the motor shield, in the racks or in the armrest area (depending on the car model), in the event of an accident, send a signal to the electronic control unit. In most modern SCBAs, frontal sensors are designed for impact force at speeds of 50 km/h or more. The side ones work with weaker impacts. From the electronic control unit, the signal follows to the main module, which consists of a compactly laid pillow connected to the gas generator. The latter is a tablet with a diameter of about 10 cm and a thickness of about 1 cm with a crystalline nitrogen-generating substance. An electrical impulse ignites a squib in the “tablet” or melts the wire, and the crystals turn into gas with the speed of an explosion. The entire process described is very fast. The “medium” pillow inflates in 25 ms. The surface of the European standard pillow rushes towards the chest and face at a speed of about 200 km / h, and the American one - about 300. Therefore, in cars equipped with an airbag, manufacturers strongly advise you to buckle up and not sit close to the steering wheel or dashboard. In the most "advanced" systems, there are devices that identify the presence of a passenger or a child seat and, accordingly, either turn off or correct the degree of inflation.

Fig.5.25 Car airbag:

1 - seat belt tensioner; 2 - airbag; 3 - airbag; for the driver; 4 - control unit and central sensor; 5 – executive module; 6 - inertial sensors

More details on modern automotive MS can be found in the manual.

In addition to conventional cars, much attention is paid to the creation of light vehicles (LTV) with electric drive (sometimes they are called non-traditional). This group of vehicles includes electric bicycles, scooters, wheelchairs, electric vehicles with autonomous power sources. The development of such mechatronic systems is carried out by the Scientific and Engineering Center "Mechatronika" in cooperation with a number of organizations. LTS are an alternative to vehicles with internal combustion engines and are currently used in environmentally friendly areas (health and recreation, tourist, exhibition, park complexes), as well as in retail and storage facilities. Technical specifications prototype electric bike:

Maximum speed 20 km/h,

Rated drive power 160 W,

Rated speed 160 rpm,

Maximum torque 18 Nm,

Engine weight 4.7 kg,

Rechargeable battery 36V, 6 Ah,

Driving offline 20 km.

The basis for the creation of LTS are mechatronic modules of the "motor-wheel" type based, as a rule, on high-torque electric motors.

Sea transport. MS are increasingly used to intensify the work of crews of sea and river vessels associated with the automation and mechanization of the main technical means, which include the main power plant with service systems and auxiliary mechanisms, the electric power system, general ship systems, steering gear and engines.

Integrated automatic systems for keeping a ship on a given trajectory (SUZT) or a ship intended for the study of the World Ocean on a given line of profile (SUZP) are systems that provide the third level of control automation. The use of such systems allows:

To increase the economic efficiency of maritime transportation by implementing the best trajectory, vessel movement, taking into account navigational and hydrometeorological conditions of navigation;

Integrated automatic motion control systems according to a given geophysical research program (ASUD) are designed to automatically bring the vessel to a given profile line, automatically keep the geological and geophysical vessel on the profile line being studied, and maneuver when switching from one profile line to another. The system under consideration makes it possible to increase the efficiency and quality of marine geophysical surveys.

In marine conditions, it is impossible to use conventional methods of preliminary exploration (search party or detailed aerial photography), therefore the seismic method of geophysical research has become the most widely used (Fig. 5.26). The geophysical vessel 1 tows a pneumatic gun 3, which is a source of seismic vibrations, a seismographic spit 4, on which receivers of reflected seismic vibrations are located, and an end buoy 5, on a cable-cable 2. The bottom profiles are determined by recording the intensity of seismic vibrations reflected from the boundary layers of 6 different breeds.

Fig.5.26. Scheme of geophysical surveys.

To obtain reliable geophysical information, the vessel must be kept at a given position relative to the bottom (profile line) with high accuracy, despite the low speed (3-5 knots) and the presence of towed devices of considerable length (up to 3 km) with limited mechanical strength.

The firm "Anjutz" has developed an integrated MS that ensures the vessel is kept on a given trajectory. On fig. 5.27 shows a block diagram of this system, which includes: gyrocompass 1; lag 2; instruments of navigation systems that determine the position of the vessel (two or more) 3; autopilot 4; mini-computer 5 (5a - interface, 5b - central storage device, 5c - central processing unit); punched tape reader 6; plotter 7; display 8; keyboard 9; steering machine 10.

Fig.5.27. Structural diagram of the integrated MS for keeping the ship on a given trajectory

The course control with the help of the system under consideration is carried out by an autopilot, the input of which receives information about the value of the given course ψset, formed by a mini-computer, taking into account the error in the position of the vessel. The system is assembled in the control panel. In its upper part there is a display with controls for setting the optimal image. Below, on the inclined field of the console, there is an autopilot with control handles. On the horizontal field of the console there is a keyboard, with the help of which programs are entered into the mini-computer. There is also a switch with which the control mode is selected. In the base part of the control panel there are a mini-computer and an interface. All peripheral equipment is placed on special stands or other consoles. The system under consideration can operate in three modes: "Course", "Monitor" and "Program". In the "Course" mode, a given course is maintained with the help of an autopilot according to the readings of the gyrocompass. The "Monitor" mode is selected when the transition to the "Program" mode is being prepared, when this mode is interrupted, or when the transition through this mode is completed. The “Course” mode is switched over when malfunctions of the mini-computer, power sources or radio navigation complex are detected. In this mode, the autopilot operates independently of the mini-computer. In the "Program" mode, the course is controlled according to the data of radio navigation devices (position sensors) or a gyrocompass.

Aviation technology. The successes achieved in the development of aviation and space technology, on the one hand, and the need to reduce the cost of targeted operations, on the other hand, stimulated the development of a new type of technology - remotely piloted aircraft (RPV).

On fig. 5.28 shows a block diagram of the UAV remote flight control system - HIMAT. The main component of the HIMAT remote piloting system is the ground remote control station. The UAV flight parameters are received at the ground point via a radio link from the aircraft, are received and decoded by the telemetry processing station and transmitted to the ground part of the computer system, as well as to information display devices at the ground control point. In addition, a picture of the external view displayed by a television camera is received from the RPV. The television image displayed on the screen of the ground workplace of the human operator is used to control the aircraft during air maneuvers, landing approach and landing itself. The cockpit of the ground remote control station (operator's workplace) is equipped with devices that provide indication of information about the flight and the state of the equipment of the RPV complex, as well as means for controlling the aircraft. In particular, at the disposal of the human operator there are handles and pedals for controlling the aircraft in roll and pitch, as well as an engine control handle. In the event of a failure of the main control system, the commands of the control system are given through a special remote control for discrete commands of the RPV operator.

Fig.5.28. HIMAT RPV remote piloting system:

carrier B-52; 2 - backup control system on the TF-104G aircraft; 3 – line of telemetric communication with the ground; 4 - RPV HIMAT; 5 - lines of telemetric communication with RPV; 5 - ground station for remote piloting

As an autonomous navigation system that provides dead reckoning, Doppler ground speed and drift angle meters (DPSS) are used. Such a navigation system is used in conjunction with a heading system that measures the heading with a vertical sensor that generates roll and pitch signals, and an on-board computer that implements the dead reckoning algorithm. Together, these devices form a Doppler navigation system (see Figure 5.29). To improve the reliability and accuracy of measuring the current coordinates of the aircraft, DISS can be combined with speed meters

Fig.5.29. Diagram of a Doppler navigation system

The miniaturization of electronic elements, the creation and serial production of special types of sensors and indicator devices that work reliably in difficult conditions, as well as a sharp reduction in the cost of microprocessors (including those specially designed for cars) created the conditions for turning vehicles into MS of a fairly high level.

high speed ground transport on a magnetic suspension is a good example of a modern mechatronic system. So far, the world's only commercial transport system of its kind was put into operation in China in September 2002 and connects Pudong International Airport with downtown Shanghai. The system was developed, manufactured and tested in Germany, after which the train cars were transported to China. The guiding track, located on a high trestle, was manufactured locally in China. The train accelerates to a speed of 430 km/h and covers a distance of 34 km in 7 minutes (the maximum speed can reach 600 km/h). The train hovers over the guide track, there is no friction on the track, and air provides the main resistance to movement. Therefore, the train has been given an aerodynamic shape, the joints between the cars are closed (Fig. 5.30).

To ensure that the train does not fall onto the guide track in the event of an emergency power outage, it is equipped with powerful batteries, the energy of which is sufficient to bring the train to a smooth stop.

With the help of electromagnets, the distance between the train and the guide track (15 mm) during movement is maintained with an accuracy of 2 mm, which makes it possible to completely eliminate the vibration of the cars even at maximum speed. The number and parameters of the supporting magnets is a trade secret.

Rice. 5.30. Maglev train

The maglev transport system is fully controlled by a computer, since at such a high speed a person does not have time to respond to emerging situations. The computer also controls the acceleration and deceleration of the train, also taking into account the turns of the track, so passengers do not feel discomfort when accelerating.

The described transport system is characterized by high reliability and unprecedented accuracy in the implementation of the traffic schedule. During the first three years of operation, more than 8 million passengers were transported.

To date, the leaders in maglev technology (an abbreviation used in the West for the words "magnetic levitation") are Japan and Germany. In Japan, the maglev set a world record for the speed of rail transport - 581 km / h. But Japan has not yet progressed further than setting records, trains run only along experimental lines in Yamanashi Prefecture, with a total length of about 19 km. In Germany, maglev technology is being developed by Transrapid. Although the commercial version of the maglev did not take root in Germany itself, the trains are operated at the test site in Emsland by Transrapid, which has successfully implemented the commercial version of the maglev in China for the first time in the world.

As an example of already existing transport mechatronic systems (TMS) with autonomous control, we can cite the VisLab robot car and the laboratory of machine vision and intelligent systems of the University of Parma.

Four robotic cars have traveled an unprecedented 13,000 kilometers from Parma in Italy to Shanghai for autonomous vehicles. This experiment was intended to be a tough test for the TMC intelligent autonomous driving system. Her test took place in city traffic, for example, in Moscow.

Robot cars were built on the basis of minibuses (Figure 5.31). They differed from ordinary cars not only in autonomous control, but also in pure electric traction.

Rice. 5.31. VisLab self-driving car

Solar panels were located on the roof of the TMS to power critical equipment: a robotic system that rotates the steering wheel and presses the gas and brake pedals, as well as the computer components of the machine. The rest of the energy was supplied by electrical outlets during the journey.

Each robot car was equipped with four laser scanners in front, two pairs of stereo cameras looking forward and backward, three cameras covering a 180-degree field of view in the front "hemisphere" and a satellite navigation system, as well as a set of computers and programs that allow the car to make decisions. in certain situations.

Another example of an autonomously controlled mechatronic transport system is the RoboCar MEV-C robotic electric vehicle from the Japanese company ZMP (Fig. 5.32).

Fig.5.32. Robotic electric car RoboCar MEV-C

The manufacturer positions this TMS as a machine for further advanced development. The autonomous control device includes the following components: a stereo camera, a 9-axis wireless motion sensor, a GPS module, a temperature and humidity sensor, a laser rangefinder, Bluetooth, Wi-Fi and 3G chips, as well as a CAN protocol that coordinates the joint work of all components . RoboCar MEV-C measures 2.3 x 1.0 x 1.6 m and weighs 310 kg.

A modern representative of the transport mechatronic system is the transscooter, which belongs to the class of light vehicles with an electric drive.

Transscooters are a new type of transformable multifunctional ground vehicles for individual use with an electric drive, mainly intended for people with disabilities (Fig. 5.33). The main distinguishing feature of the transscooter from other land vehicles is the ability to cross flights of stairs and implement the principle of multifunctionality, and hence transformability in a wide range.

Rice. 5.33. The appearance of one of the samples of the transscooter family "Kangaroo"

The mover of the transscooter is made on the basis of a mechatronic module of the “motor-wheel” type. The functions and, accordingly, the configurations provided by the transscooters of the Kangaroo family are as follows (Fig. 5.34):

- "Scooter" - movement at high speed on a long base;

- "Armchair" - maneuvering on a short base;

- "Balance" - standing movement in the gyro stabilization mode on two wheels;

- "Compact-vertical" - movement while standing on three wheels in the gyro-stabilization mode;

- "Curb" - overcoming the curb immediately standing or sitting ( individual models have an additional function "Slanting curb" - overcoming the curb at an angle of up to 8 degrees);

- "Ladder up" - climbing the steps of the stairs in front, sitting or standing;

- "Ladder down" - descending the steps of the stairs in front, while sitting;

- "At the table" - low landing, feet on the floor.

Rice. 5.34. The main configurations of the transscooter on the example of one of its variants

The transscooter has an average of 10 compact high-torque electric drives with microprocessor control. All drives are of the same type - DC brushless motors controlled by signals from Hall sensors.

To control such devices, a multifunctional microprocessor control system (CS) with an on-board computer is used. The architecture of the transscooter control system is two-level. The lower level is the maintenance of the drive itself, the upper level is the coordinated operation of the drives according to a given program (algorithm), testing and monitoring the operation of the system and sensors; external interface - remote access. The top-level controller (on-board computer) is Advantech's PCM-3350 in PC/104 format. As a lower-level controller, a specialized microcontroller TMS320F2406 from Texas Instruments for controlling electric motors. The total number of low-level controllers responsible for the operation of individual units is 13: ten drive control controllers; steering head controller, which is also responsible for displaying information displayed on the display; residual capacity controller battery; battery charge and discharge controller. Data exchange between the on-board computer of the transscooter and peripheral controllers is supported via a common bus with a CAN interface, which allows minimizing the number of conductors and achieving a real data transfer rate of 1 Mbps.

On-board computer tasks: control of electric drives, servicing commands from the steering head; calculation and display of the residual charge of the battery; solving a trajectory problem for moving up the stairs; possibility of remote access. The following individual programs are implemented via the on-board computer:

Acceleration and deceleration of the scooter with controlled acceleration / deceleration, which is personally adapted to the user;

A program that implements the algorithm for the operation of the rear wheels when cornering;

Longitudinal and transverse gyro stabilization;

Overcoming the curb up and down;

Movement up and down the stairs

Adaptation to the dimensions of the steps;

Identification of staircase parameters;

Wheelbase changes (from 450 to 850 mm);

Monitoring of scooter sensors, drive control units, battery;

Emulations based on the readings of the sensors of the parking radar;

Remote access to control programs, changing settings via the Internet.

The transscooter has 54 sensors that allow it to adapt to the environment. Among them: Hall sensors built into brushless motors; absolute angle sensors that determine the position of the components of the transscooter; resistive steering wheel sensor; infrared distance sensor for parking radar; an inclinometer that allows you to determine the slope of the scooter while driving; accelerometer and angular velocity sensor used to control gyro stabilization; radio frequency receiver for remote control; resistive linear displacement sensor to determine the position of the chair relative to the frame; shunts for measuring motor current and residual battery capacity; potentiometric speed controller; strain gauge weight sensor to control the weight distribution of the apparatus.

The general block diagram of the control system is shown in Figure 5.35.

Rice. 5.35. Block diagram of a control system for a transscooter of the Kangaroo family

Conventions:

RMC - absolute angle sensors, DH - Hall sensors; BU - control unit; LCD - liquid crystal indicator; MKL - motor-wheel left; MCP - right wheel motor; BMS - power management system; LAN - port for external connection of the on-board computer for the purpose of programming, settings, etc.; T - electromagnetic brake.

Introduction. Application of mechatronic and robotic systems in transport Construction principles and development trends

5. Mechatronic vehicles

Subject and method of mechatronics

Construction principles and development trends

Mechatronic systems

Computer and intelligent control in mechatronics

Read also

Characteristics of the religious and philosophical trend in the psychology of Russia and the main periods of its development

The history of the Iranian imperial Pahlavi house is more relevant than ever

Cossack on the peacock throne of Persia

THE BELL