Integrated topology and controller optimization of motion systems in the frequency domain |
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Authors: | Gijs van der Veen Matthijs Langelaar Fred van Keulen |
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Affiliation: | 1.Precision and Microsystems Engineering, Faculty of Mechanical, Maritime and Materials Engineering,Delft University of Technology,Delft,The Netherlands |
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Abstract: | In the precision mechatronics industry the limits of current technology are expanded by a very tight integration of the design disciplines involved, such as structural mechanics and control systems technology. In this article a framework is presented which allows the simultaneous and integrated design of a structure and controller. The structure is designed using topology optimization and the objectives and constraints are related to the closed-loop control performance and defined in the frequency domain. For simple examples it is shown that this approach leads to at least as good performance as a sequential approach consisting of eigenfrequency optimization followed by controller tuning, and leads to lighter designs. The framework allows rapid development of prototype designs, which may save a number of the costly design iterations which are currently made in industrial practice. Examples are found in the semiconductor industry, microscopy, micro–electromechanical devices, medical devices and robotics. |
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