范围可以简单的控制功能和智能控制。智能控制系统的各种定义确实存在，请参阅[24-30]。作为一个在线的专家系统，智能控制系统可组织根据图。 2.5，包括。多控制功能（行政职能）。知识基础。推理机制，以及。通讯接口。 0.2002的CRC出版社有限责任公司
The online control functions are usually organized in multilevels,
as already described. The knowledge base contains quantitative and qualitative knowledge. The quantitative part operates with analytic (mathematical) process models, parameter and state estimation methods, analytic design methods (e.g., for control and fault detection), and quantitative optimization methods. Similar modules hold for the qualitative knowledge (e.g., in the form of rules for fuzzy and soft computing). Further knowledge is the past history in the memory and the possibility to predict the behavior. Finally, tasks or schedules may be included. The inference mechanism draws conclusions either by quantitative reasoning (e.g., Boolean methods) or by qualitative reasoning (e.g., possibilistic methods) and takes decisions for the executive functions. Communication between the different modules, an information management database, and the man– machine interaction has to be organized. Based on these functions of an online expert system, an intelligent system can be built up, with the ability ―to model, reason and learn the process and its automatic functions within a given frame and to govern it towards a certain goal.‖ Hence, intelligent mechatronic systems can be developed, ranging from “low-degree intelligent‖ [13], such as intelligent actuators, to ―fairly intelligent systems,‖ such as self-navigating automatic guided vehicles. An intelligent mechatronic system adapts the controller to the mostly nonlinear behavior (adaptation), and stores its controller parameters in dependence on the position and load (learning), supervises all relevant elements, and performs a fault diagnosis (supervision) to request maintenance or, if a failure occurs, to request a fail safe action (decisions on actions). In the case of multiple components, supervision may help to switch off the faulty component and to perform a reconfiguration of the controlled process.
在线控制功能通常在层次组织，已经描述。知识库包含定量和定性知识。定量部分（数学分析）的过程模型，参数和状态估计方法，分析设计方法（例如，用于控制和故障检测），并定量优化方法。持有类似的模块的定性知识（例如，模糊和软计算规则的形式）。进一步了解是在内存中的过去的历史和预测行为的可能性。最后，任务或计划可能包括在内。推理机制借鉴的结论，通过定量推理（例如，布尔方法）或定性推理（例如，可能性方法），并采取行政职能的决定。举办不同的模块，信息管理数据库，和人机交互之间的通信。基于这些功能的网上专家系统，智能系统可以建立起来的，与 能力―的模式，原因和一个给定的框架内学习的过程和它的自动功能，并朝着一定的目标来治理它。‖因此，可以开发智能机电一体化系统，范围从―低度智能‖[13]，如作为智能驱动器，―相当智能化系统‖，如自动导引车，自主导航。一个智能化的机电一体化系统适应控制器大多是非线性的行为（适应），并存储在其控制器参数的位置和负荷（学习）的依赖，监督所有相关内容，并执行故障诊断（监督），要求维修，或如果发生故障，要求一个安全的行动失败的行动的决定。在多个组件的情况下，监督可能有助于切断故障组件和执行控制过程的重新配置。
2.5
Concurrent Design Procedure for Mechatronic Systems The design of
mechatronic systems requires a systematic development and use of modern design tools. Design Steps Table 2.3 shows five important development steps for mechatronic systems, starting from a purely mechanical system and resulting in a fully integrated mechatronic system. Depending on the kind of mechanical system, the intensity of the single development steps is different. For precision mechanical devices, fairly integrated mechatronic systems do exist. The influence of the electronics on mechanical elements may be considerable, as shown by adaptive dampers, anti-lock system brakes, and automatic gears. However, complete machines and vehicles show first a mechatronic design of their elements, and then slowly a redesign of parts of the overall structure as can be observed in the development of machine tools, robots, and vehicle bodies. Required CAD/ //// CAE Tools
2.5机电一体化系统的并行设计程序的机电一体化系统的设计需要一个系统的现代
设计工具的开发和使用。机电一体化系统设计步骤表2.3显示了五个重要的发展步骤，开始从一个纯粹的机械系统，并导致一个完全集成的机电一体化系统。根据机械系统，单一的开发步骤的强度是不同的的。对于精密机械设备，相当综合性的机电一体化系统确实存在。电子机械元件的影响可能相当大，如自适应阻尼器，防抱死系统制动器，齿轮和自动所示。然而，第一个完整的机器和车辆显示了它们的元素的机电一体化设计，然后慢慢地重新设计的整体结构部件，在机床，机器人，车身的发展，可以观察到。所需的CAD // / // CAE工具
2.6 The computer aided development of mechatronic systems comprises:
1. constructive specification in the engineering development stage
using CAD and CAE tools,
2. model building for obtaining static and dynamic process models, 3. transformation into computer codes for system simulation, and 4. programming and implementation of the final mechatronic
software.
Some software tools are described in [31]. A broad range of
CAD/CAE tools is available for 2D- and 3D-mechanical design, such as Auto CAD with a direct link to CAM (computer-aided manufacturing), and PADS, for multilayer, printed-circuit board layout. However, the state of computer-aided modeling is not as advanced. Object-oriented languages such as DYMOLA and MOBILE for modeling of large combined systems are described in [31–33]. These packages are based on specified ordinary differential .2002 CRC Press LLC
2.6计算机辅助机电一体化系统的发展包括：
1。建设性的规范，在工程开发阶段使用CAD和CAE工具， 2。为获得静态和动态的过程模型的建立模型， 3。系统仿真，并转化成计算机代码
4。最终的机电一体化软件的规划和实施。
[31]描述了一些软件工具。一个广泛的CAD / CAE工具，是可以直接链接到CAM（计算机辅助制造），和PADS多层印刷电路板布局，如AUTO CAD，二维和三维机械设计。然而，计算机辅助建模的状态并不先进。面向对象的语言，如DYMOLA和移动大型组合系统的建模描述[31-33]。这些包的基础上指定的常微分方程0.2002 CRC出版社有限责任公司
TABLE 2.3 Steps in the Design of Mechatronic Systems
Precision Mechanical Mechanics Elements Machines Examples Sensors nsSuspensio Electric drives actuators sdamper combustion disc-storages ches clut engines cameras gears brakes mach. tools robots Pure mechanical system
1. Addition of sensors, actuators, microelectronics, control
functions
2. Integration of components (hardware integration)
3. Integration by information processing (software integration) 4. Redesign of mechanical system
5. Creation of synergetic effects Fully integrated mechatronic
systems
The size of a circle indicates the present intensity of the respective
mechatronic devel
表2.3在机电一体化系统设计的步骤
精密机械力学元素机器的例子传感器nsSuspensio电驱动执行器sdamper燃烧光盘仓CHES CLUT发动机相机齿轮刹车马赫。工具的机器人纯机械系统 1。此外，传感器，执行器，微电子技术，控制功能 2。集成组件（硬件集成） 3。信息处理集成（软件集成） 4。重新设计的机械系统
5。创造协同效应完全集成的机电一体化系统
一个圆圈的大小表示目前各自的机电一体化发育强度
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