University of SaskatchewanHARVEST
  • Login
  • Submit Your Work
  • About
    • About HARVEST
    • Guidelines
    • Browse
      • All of HARVEST
      • Communities & Collections
      • By Issue Date
      • Authors
      • Titles
      • Subjects
      • This Collection
      • By Issue Date
      • Authors
      • Titles
      • Subjects
    • My Account
      • Login
      JavaScript is disabled for your browser. Some features of this site may not work without it.
      View Item 
      • HARVEST
      • Electronic Theses and Dissertations
      • Graduate Theses and Dissertations
      • View Item
      • HARVEST
      • Electronic Theses and Dissertations
      • Graduate Theses and Dissertations
      • View Item

      Hybrid intelligent machine systems : design, modeling and control

      Thumbnail
      View/Open
      Puren_Ouyang_thesis.pdf (1.988Mb)
      Date
      2005-08-25
      Author
      Ouyang, Puren
      Type
      Thesis
      Degree Level
      Doctoral
      Metadata
      Show full item record
      Abstract
      To further improve performances of machine systems, mechatronics offers some opportunities. Traditionally, mechatronics deals with how to integrate mechanics and electronics without a systematic approach. This thesis generalizes the concept of mechatronics into a new concept called hybrid intelligent machine system. A hybrid intelligent machine system is a system where two or more elements combine to play at least one of the roles such as sensor, actuator, or control mechanism, and contribute to the system behaviour. The common feature with the hybrid intelligent machine system is thus the presence of two or more entities responsible for the system behaviour with each having its different strength complementary to the others. The hybrid intelligent machine system is further viewed from the system’s structure, behaviour, function, and principle, which has led to the distinction of (1) the hybrid actuation system, (2) the hybrid motion system (mechanism), and (3) the hybrid control system. This thesis describes a comprehensive study on three hybrid intelligent machine systems. In the case of the hybrid actuation system, the study has developed a control method for the “true” hybrid actuation configuration in which the constant velocity motor is not “mimicked” by the servomotor which is treated in literature. In the case of the hybrid motion system, the study has resulted in a novel mechanism structure based on the compliant mechanism which allows the micro- and macro-motions to be integrated within a common framework. It should be noted that the existing designs in literature all take a serial structure for micro- and macro-motions. In the case of hybrid control system, a novel family of control laws is developed, which is primarily based on the iterative learning of the previous driving torque (as a feedforward part) and various feedback control laws. This new family of control laws is rooted in the computer-torque-control (CTC) law with an off-line learned torque in replacement of an analytically formulated torque in the forward part of the CTC law. This thesis also presents the verification of these novel developments by both simulation and experiments. Simulation studies are presented for the hybrid actuation system and the hybrid motion system while experimental studies are carried out for the hybrid control system.
      Degree
      Doctor of Philosophy (Ph.D.)
      Department
      Mechanical Engineering
      Program
      Mechanical Engineering
      Supervisor
      Zhang, W. J. (Chris)
      Committee
      Sumner, David; Saadat Mehr, Aryan; Nikravesh, Masoud; Gupta, Madan M.; Degenstein, Douglas A.; Chen, X. B. (Daniel); Burton, Richard T.
      Copyright Date
      August 2005
      URI
      http://hdl.handle.net/10388/etd-08312005-144258
      Subject
      modeling
      control
      experiment
      design
      hybrid control system
      hybrid motion system
      hybrid actuation system
      Intelligent machine system
      Hybrid system
      Collections
      • Graduate Theses and Dissertations

      Related items

      Showing items related by title, author, creator and subject.

      • Reliability Impacts of Plug-in Hybrid Electric Vehicles on Power Systems 

        Wang, Xue 1986- (2016-09-01)
        Modern power system aims to provide reliable, economic, as well as environmental friendly power supply to its customers. In the past few decades, power systems are going through considerable changes to both the power ...
      • Identification of protein-protein interactions in the type two secretion system of aeromonas hydrophila 

        Zhong, Su (2009)
        The type II secretion system is used by many pathogenic and non-pathogenic bacteria for the extracellular secretion of enzymes and toxins. Aeromonas hydrophila is a Gram-negative pathogen that secretes proteins via the ...
      • Hybrid Energy Systems with Small Modular Reactor Based Nuclear Power Plants and Renewable Energy Sources: Modeling, Operation and Planning Studies 

        Poudel, Bikash; 0000-0001-8840-6491 (2020-11-20)
        The abstract of this item is unavailable due to an embargo.
      University of Saskatchewan

      University Library

      The University of Saskatchewan's main campus is situated on Treaty 6 Territory and the Homeland of the Métis.

      © University of Saskatchewan
      Contact Us | Disclaimer | Privacy