TABLE 2.2 Properties of Conventional and Mechatronic Design Systems Conventional Design Mechatronic Design Added components Integration of components (hardware)
1 Bulky Compact
2 Complex mechanisms Simple mechanisms 3 Cable problems Bus or wireless communication 4 Connected components Autonomous units
Simple control Integration by information processing (software) 5 Stiff construction Elastic construction with damping by electronic
feedback
6 Feedforward control, linear (analog) control Programmable
feedback (nonlinear) digital control
7 Precision through narrow tolerances Precision through
measurement and feedback control
8 Nonmeasurable quantities change arbitrarily Control of
nonmeasurable estimated quantities
9 Simple monitoring Supervision with fault diagnosis 10 Fixed abilities Learning abilities
表2.2常规和机电一体化设计系统属性的常规设计机电一体化设计增加了组件
集成组件（硬件）
1笨重的契约
2简单的机制复杂的机制 3电缆问题总线或无线通信
4连接组件的自治单位简单的管控一体化信息处理（软件） 5僵硬弹性建筑施工，电子反馈阻尼
6前馈控制，可编程线性（模拟）控制反馈（非线性）的数字控制 7通过测量和反馈控制，通过狭窄的公差精度的精密 8不可测的数量随意变化，不可测的估计数量的控制 9简单的监察与故障诊断 10固定能力，学习能力
FIGURE 2.3 General
mechanical-electronic system.
scheme
of
a
(classical)
图2.3（古典）机械电子系统的总体方案。
2.3 Ways of Integration
Figure 2.3 shows a general scheme of a classical
mechanical-electronic system. Such systems resulted fromadding available sensors, actuators, and analog or digital controllers to mechanical components. The limits of this approach were given by the lack of suitable sensors and actuators, the unsatisfactory life time under rough operating conditions (acceleration, temperature, contamination), the large space requirements, the required cables, and relatively slow data processing. With increasing improvements in miniaturization, robustness, and computing power of microelectronic components, one can now put more emphasis on electronics in the design of a mechatronic system. More autonomous systems can be envisioned, such as capsuled units with touchless signal transfer or bus connections, and robust microelectronics.
2.3集成方式
图2.3显示了一个经典的机械电子系统的总体方案。这种系统造成机械部件中添加可用的传感器，执行器和模拟或数字控制器。这种方法的限制，缺乏合适的传感器和执行器，根据粗略的经营状况不理想的续航时间（加速度，温度，污染），大空间的要求，所需
的电缆，与相对缓慢的数据处理。随着微电子元件的电源小型化，耐用性和计算日益改善，现在可以把更多的重点在机电一体化系统的设计的电子。可以设想更多的自治系统，如与非接触式信号传输总线连接，和强大的微电子包衣单位。
The integration within a mechatronic system can be performed
through the integration of components and through the integration of information processing. integration of Components (Hardware) The integration of components (hardware integration) results from designing the mechatronic system as an overall system and imbedding the sensors, actuators, and microcomputers into the mechanical process, as seen in Fig. 2.4. This spatial integration may be limited to the process and sensor, or to the process and actuator. Microcomputers can be integrated with the actuator, the process or sensor, or can be arranged at several places.
在机电一体化系统集成，可以通过组件的集成，并通过信息处理一体化。组件
集成（硬件）集成组件（硬件集成）作为一个整体系统的机电一体化系统设计，并嵌入到机械过程中的传感器，执行器，微型电子计算机，如图所示的结果。 2.4。这一空间整合的过程和传感器，过程和执行器可能会受到限制。微型计算机可集成的执行器，过程或传感器，可安排在几个地方
Integrated sensors and microcomputers lead to smart sensors,
and integrated actuators and microcomputers lead to smart actuators. For larger systems, bus connections will replace cables. Hence, there are several possibilities to build up an integrated overall system by proper integration of the hardware. Integration of Information Processing (Software) The integration of information processing (software integration) is mostly based on advanced control functions. Besides a basic feedforward and feedback control, an additional influence may take place through the process knowledge and corresponding online information processing, as seen in Fig. 2.4. This means a processing of available signals at higher levels, including the solution of tasks like supervision .2002 CRC Press LLC
集成传感器和微型智能传感器和集成执行器，微型电子计算机，智能执行器。
对于较大的系统，总线连接将取代电缆。因此，有几种可能通过适当的硬件集成，建立一个综合的整体系统。主要是基于先进的控制功能集成信息处理（软件）的集成信息处理（软件集成）。除了基本的前馈和反馈控制，额外的影响可能需要通过知识的过程和相应的网上信息处理的地方，如图所示。 2.4。这意味着在较高的水平，包括解决方案的任务的可用信号处理，如监督2002 CRC出版社有限责任公司
FIGURE 2.4 Ways of integration within mechatronic systems.
with fault diagnosis, optimization, and general process
management. The respective problem solutions result in real-time algorithms which must be adapted to the mechanical process properties, expressed by mathematical models in the form of static characteristics, or differential equations. Therefore, a knowledge base is required, comprising methods for design and information gaining, process models, and performance criteria. In this way, the mechanical parts are governed in various ways through higher level information processing with intelligent properties, possibly including learning, thus forming an integration by process-adapted software.
图2.4在机电一体化系统的集成方式。与故障诊断，优化，和一般过程管理。
各自的问题解决方案结果，必须适应的机械工艺性能，表示在实时算法在静态特性的数学模型，微分方程。因此，知识基地是必需的，包括设计和信息的获得，过程模型的方法，并表现标准。这样，机械零件以各种方式通过更高级别管辖信息处理与智能特性，可能包括学习，从而形成一个集成由适应过程的软件
2.4
Information Processing Systems (Basic Architecture and HW/SW
Trade-offs) The governing of mechanical systems is usually performed through actuators for the changing of positions, speeds, flows, forces, torques, and voltages. The directly measurable output quantities are frequently positions, speeds, accelerations, forces, and currents. Multilevel Control Architecture The information processing of direct measurable input and output signals can be organized in several levels, as compared in Fig.
2.5. level 1: low level control (feedforward, feedback for damping,
stabilization, linearization) level 2: high level control (advanced feedback control strategies) level 3: supervision, including fault diagnosis level 4: optimization, coordination (of processes) level 5: general process management Recent approaches to mechatronic systems use signal processing in the lower levels, such as damping, control of motions, or simple supervision. Digital information processing, however, allows for the solution of many tasks, like adaptive control, learning control, supervision with fault diagnosis, decisions .2002 CRC Press LLC
信息处理系统（基本架构和硬件/软件权衡），机械系统的管理通常是通过执行
器的位置，速度，流量，力，力矩和电压的变化。直接衡量的产出量是经常的位置，速度，加速度，力，和电流。多级控制体系直接衡量的输入和输出信号的信息处理，可以在几个层次上，组织图相比。
2.5。 1级：低级别的控制（前馈，反馈阻尼，稳定，线性）第2级：高层次
的控制（先进的反馈控制策略）第3级：监督，包括故障诊断第4级：优化，协调（过程）5级：一般流程管理机电一体化系统最近在较低的水平，如阻尼控制的议案，或简单的监督，使用的信号处理。然而，让数字信息处理，解决许多任务，如自适应控制，学习控制，监督与故障诊断，决定0.2002 CRC出版社有限责任公司