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Transcript of Mechatronika alapjai
Dr. habil. Husi Géza
Basic of Mechatronics
A real physical system is a physical object change forced by any exterior effect in a measurable way.
Forces influencing real physical systems that are able to effect
.Interventions are usually indicated with the letter
belonging to physical outputs are often called responses and are usually indicated with the letter
Disturbances can be divided into two groups (noise and loading signals) and
are indicated with the letter
It is trivial that the systems, which could be written by linear equations (algebraic, ordinary and partial differential equations), are called
. The most important property is, which could be also the definition of these systems that the principle of
is valid for such a systems.
Definitions of linear and non-linear systems
Definition of parameter and variable
We can say, in the first approximation that parameter is a constant in a mathematical description of a real physical system, variable is time dependent in that system. For Example the first one is the resistance, for the second one is current.
? the resistant could change depending on the temperature of the electric circuit
Introduce a ϑ(t) variable, which temperature and value of a ϑ(t) could be calculated by a complicated thermodynamic function f. f depends on i(t) amperage, ϑ_0 outer temperature, Ω(t) angular velocity of the motor and some other circumstances
The word "mechatronics" originated in Japanese-English and was created by Tetsuro Mori, an engineer of
Yaskawa Electric Corporation
. The word "mechatronics" was registered as trademark by the company in Japan with the registration number of "46-32714" in 1971. However, afterward the company released the right of using the word to public, and the word "mechatronics" spread to the rest of the world. Nowadays, the word is translated in each language and the word is considered as an essential term for industry.
Concept of causality
We call a system
, if the
output signal of the system is independent from the input signals
(excitations) after any T time, thus the future events do not effect on the present.
If the momentary v
alues of the input signals define the output values clearly at any time
, then we can speak about a
. In this case the system does not have memoric property, so there is no need to define different states from the inputs. Nor the future events, nor the events in the past affect the present. In this kind of systems the time takes no count.
In linear case the inputs and the outputs can be described by algebraic equations