光机电一体化毕业设计翻译题(6)

opment step: large, medium, little. equations, algebraic equations,

and discontinuities. A recent description of the state of computer-aided control system design can be found in [34]. For system simulation (and controller design), a variety of program systems exist, like ACSL, SIMPACK, MATLAB/SIMULINK, and MATRIX-X. These simulation techniques are valuable tools for design, as they allow the designer to study the interaction of components and the variations of design parameters before manufacturing. They are, in general, not suitable for real-time simulation. Modeling Procedure Mathematical process models for static and dynamic behavior are required for various steps in the design of mechatronic systems, such as simulation, control design, and reconstruction of variables. Two ways to obtain these models are theoretical modeling based on first (physical) principles and experimental modeling (identification) with measured input and output variables. A basic problem of theoretical modeling of mechatronic systems is that the components originate from different domains. There exists a well-developed domain specific knowledge for the modeling of electrical circuits, multibody mechanical systems, or hydraulic systems, and corresponding software packages. However, a computer-assisted general methodology for the modeling and simulation of components from different domains is still missing [35]. The basic principles of theoretical modeling for system with energy flow are known and can be unified for components from different domains as electrical, mechanical, and thermal (see

[36–41]). The modeling methodology becomes more involved if material flows are incorporated as for fluidics, thermodynamics, and chemical processes. .2002 CRC Press LLC

发展阶段：大，中，小。方程，代数方程和连续性。一个最近的计算机辅助控

制系统设计的状态描述中可以找到[34]。系统仿真（和控制器的设计），各种程序系统存在，如ACSL，SIMPACK，MATLAB / SIMULINK的，MATRIX - X。这些模拟技术设计的有价值的工具，因为它们允许设计师组件及生产前的设计参数的变化相互作用的研究。他们是在一般情况下，不适合实时仿真。静态和动态行为的数学建模程序过程模型需要在设计的各个步骤

机电一体化系统的仿真，控制设计，和重建的变量，如。两种方法来获取这些模型是理论模型的基础上（物理）的原则和实验 测量输入和输出变量的建模（标识）。机电一体化系统的理论模型的一个基本问题是源于从不同的域的组件。存在一个发达的域的模拟电路中，多体机械系统，液压系统，以及相应的软件包的具体知识。然而，计算机辅助一般

来自不同域的组件的建模和模拟方法，至今下落不明[35]。能量流系统的理论建模的基本原则是已知的，可以为来自不同领域的电气，机械，和热元件（见[36-41]）的统一的。如果流体力学，热力学和化学过程中的物质流建模方法变得更加复杂。0.2002的CRC出版社有限责任公司

A general procedure for theoretical modeling of lumped parameter

processes can be sketched as follows [19].

1. Definition of flows . energy flow (electrical, mechanical, thermal conductance) . energy and material flow (fluidic, thermal transfer, thermodynamic, chemical)

2. Definition of process elements: flow diagrams . sources, sinks (dissipative) . storages, transformers, converters

3. Graphical representation of the process model . multi-port diagrams (terminals, flows, and potentials, or across and through variables) . block diagrams for signal flow . bond graphs for energy flow 4. Statement of equations for all process elements

(i) Balance equations for storage (mass, energy, momentum) (ii)Constitutive equations for process elements (sources,

transformers, converters)

(iii)Phenomenological laws for irreversible processes (dissipative

systems: sinks)

5. Interconnection equations for the process elements . continuity equations for parallel connections (node law) . compatibility equations for serial connections (closed circuit law)

6. Overall process model calculation . establishment of input and output variables . state space representation . input/output models (differential equations, transfer functions) An example of steps 1–3 is shown in Fig. 2.7 for a drive-by-wire vehicle. A unified approach for processes with energy flow is known for electrical, mechanical, and hydraulic processes with incompressible fluids.

可以勾勒一个集总参数过程的理论模型的一般程序如下[19]。

1。流的定义。能量流（电气，机械，热传导）。能量和物质流（流体，热传递，热力学，化学）

2。过程元素的定义：流程图。源，汇（耗散）。货仓，变压器，转换器

3。过程模型的图形表示。多端口图（终端，流量和潜力，或跨越，并通过变量）。阻断信号流图。能量流的键合图

4。方程的所有过程元素的声明

（I）存储平衡方程（质量，能量，动量）

（二）本构方程的过程元素（源，变压器，变频器） （三）不可逆过程的现象学法律（耗散系统：汇）

5。过程元素联网方程。连续性方程并行连接（节点法）。串行连接的兼容性方程（闭路电视法）

6。整体过程模型计算。建立输入和输出变量。状态空间表示。输入/输出模型（微分方程，传递函数）在图1-3的步骤的一个例子。 2.7驱动器线车辆。一个统一的方法与能量流动过程，是闻名的电气，机械，和液压的过程，不可压缩的流体。

Table 2.4 defines generalized through and across variables.

In these cases, the product of the through and across variable is

power. This unification enabled the formulation of the standard bond graph modeling [39]. Also, for hydraulic processes with compressible fluids and thermal processes, these variables can be defined to result in powers, as seen in Table 2.4. However, using mass flows and heat flows is not engineering practice. If these variables are used, so-called pseudo bond graphs with special laws result, leaving the simplicity of standard bond graphs. Bond graphs lead to a high-level abstraction, have less flexibility, and need additional effort to generate simulation algorithms. Therefore, they are not the ideal tool for mechatronic systems [35]. Also, the tedious work needed to establish block diagrams with an early definition of causal input/output blocks is not suitable. Development towards object-oriented modeling is on the way, where objects with terminals (cuts) are defined without assuming a causality in this basic state. Then, object diagrams are graphically represented, retaining an intuitive understanding of the original physical components [43,44]. Hence, theoretical modeling of mechatronic systems with a unified, transparent, and flexible procedure (from the basic components of different domains to simulation) are a challenge for further development. Many components show nonlinear behavior and nonlinearities (friction and backlash). For more complex process parts, multidimensional mappings (e.g., combustion engines, tire behavior) must be integrated.

表2.4定义广义通过和跨变量。

在这种情况下，通过跨变量的乘积就是力量。启用这种统一制定的标准键合图模型[39]。此外，液压与可压缩流体和热加工工艺过程中，这些变量可以被定义导致的权力，如表2.4所示。但是，使用质量流量和热流量，是不是工程实践。如果使用这些变量，因此，所谓的伪键合图与特殊规律的结果，离开标准的键合图的简单。键合图导致一个高层次的抽象，有弹性较小，需要额外的努力，产生模拟算法。因此，他们不是为机电一体化系统的理想工具[35]。此外，繁琐的工作，需要建立因果输入/输出块的早期定义的框图，是不适合的。对面向对象的建模发展的道路上，终端（削减）的对象是没有假设一个因果关系，在这个基本状态定义。然后，对象图的图形表示，保留原有的[43,44]的物理组件的直观的认识。因此，统一，透明，灵活的程序（从基本的理论建模与机电一体化系统

模拟不同的域）的组成部分，是进一步发展的挑战。许多组件显示的非线性行为和非线性（摩擦和间隙）。对于比较复杂的过程部分，多维映射（例如，内燃机，轮胎的行为）必须进行整合。

For verification of theoretical models, several well-known

identification methods can be used, such as correlation analysis and frequency response measurement, or Fourier- and spectral analysis. Since some parameters are unknown or changed with time, parameter estimation methods can be applied, both, for models with continuous time or discrete time (especially if the models are linear in the parameters) [42,45,46]. For the identification and approximation of nonlinear,

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