Influence on Drive Properties and FPGA Control on the Mechatronic-Multibody System Dynamics

Abstract

The design of the complex mechatronic systems raises the need for rapid prototyping as a layered design approach for demanding, real life (industrial) applications. The most demanding feature is the necessity of real-time, continuous control of systems with the high performance upon the system's output process signals. The monitoring process of mechatronic system (product) is in our case focused on the multi-body dynamics and related vibration (spectra and amplitude) and motion trajectory. The complexity in our case is manifested not only in the drive specification, but in the (unpredictible) working load upon which the drive feature has to adjust. The rapid-prototyping procedure of real-time-critical control laws is illustrated from the prototyping capabilities of field-programmable gate array (FPGA) platforms on the example of the robotics as well as common household, mechatronic product.