Lecture Notes

in Control and Information Sciences 300

Editors: M. Thoma · M. Morari

Springer
Berlin
Heidelberg
NewYork
Hong Kong
London
Milan
Paris
Tokyo
M. Nakamura ž S. Goto ž N. Kyura

Mechatronic
Servo System
Control
Problems in Industries
and their Theoretical Solutions
Translated by Tao Zhang

With 79 Figures and 21 Tables

13
Series Advisory Board
A. Bensoussan · P. Fleming · M.J. Grimble · P. Kokotovic ·
A.B. Kurzhanski · H. Kwakernaak · J.N. Tsitsiklis

Authors
Masatoshi Nakamura Satoru Goto
Department of Advanced Systems Department of Advanced Systems
Control Engineering Control Engineering
Saga University Saga University
Japan Japan

Nobuhiro Kyura Translator:

Department of Electrical and Tao Zhang
Communication Engineering Intelligent Systems Research Division
Kyushu School of Engineering National Institute of Informatics
Kinki University Japan
Japan

Translation from the Japanese edition

© Morikita Shuppan Co., Ltd. 1998
All Rights Reserved.

ISSN 0170-8643
ISBN 3-540-21096-2 Springer-Verlag Berlin Heidelberg New York

Library of Congress Control Number: 2004103117

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From the Main Author

As a main author of Mechatronic Servo System Control (in Japanese), I would

like to express my thanks to Dr. Zhang Tao who translated our book into
English. The authors, myself, Dr. Goto and Prof. Kyura published the original
book which mainly consisted of the authors’ original research achievement
of mechatronic servo systems control during last over ten years. The original
book was fortunately awarded as the best book from the Society of Instrument
and Control Engineering (SICE in Japan) in 2001. Moreover, the book was
already translated into Korea language by a Korean publisher. As the authors
believe that our book is effective for students and engineers who are involved
in the field of Mechatronic Control and Robotics, we have been intended
the translation of it in English. The authors themselves made the Japanese-
English dictionary for the terminologies in the book, and ask to Dr. Zhang
Tao for the translation of the book by use of the dictionary. Dr. Zhang Tao
has completed the translation by use of his every night times during last
several months. I would like to show my great gratitude for his effort for the
translation. I also express my great thanks to Prof. Jeffrey Johnson and Dr.
Mike Richards (Open University in UK) who helped the final check of the
translation.

November 2002 Main author Masatoshi NAKAMURA

From the Translator

Since the term ”Mechatronics” was first introduced by a Yaskawa Electric en-
gineer in 1969, and its rigorous definition was given by a technical committee,
i.e., The International Federation for the Theory of Machines and Mecha-
nism (IFToMM), as “Mechatronics is the synergistic combination of precision
mechanical engineering, electronic control, and systems thinking in design of
products and manufacturing processes”, the development of mechatronic tech-
niques has led to widespread adoption of electronics in machinery. At the same
time, as one of the key techniques of mechatronics, servo control system has
been well defined for various kinds of mechanical system. At present, mecha-
tronic techniques are essential for advanced mechanical engineering. Further-
more, the introduction of servo control system design to engineers engaged in
mechanical engineering is thought to be indispensable.
As a researcher on mechatronic technique, when I firstly read the Japanese
version of this book ”Mechatronic Servo System Control”, written by Prof.
Nakamura, Dr. Goto and Prof. Kyura, I was attracted by its meticulous study
on the issues of mechatronic servo control system arising from mechanical en-
gineering as well as the significance of application. Additionally, I aroused a
strong desire to transfer its valuable achievements to whole researchers and
engineers who are engaging in the mechatronic techniques or willing to ob-
tain knowledge related with mechatronic techniques. After I heard that this
book was awarded the 2001 Works Reward of The Society of Instrument and
Control Engineers (SICE), and Prof. Nakamura also had the same desire to
translate it into other languages for readers, I expressed my strong wish to be
responsible for translating this book into English. With deep trust and great
encouragement from Prof. Nakamura, I started this challenging project from
one year ago.
Through the great efforts, the English version of ”Mechatronic Servo Con-
trol System” was finished recently. As I read the English version of this book
once again, I have also obtained great enlightenment from it, particularly for
my further research on mechatronic techniques. From the contents of this
book, I believe all readers will share the same feeling. The profit of this book
VIII From the Translator

will be reflected not only in the research or teaching on mechatronic tech-

niques, but also for engineers working on mechanical engineering.
Finally, I also want to express my great gratitude to Prof. Nakamura,
Dr. Goto and Prof. Kyura to distribute such a great valuable book on their
achievements within several decades of years to whole readers. For the kindly
help from Dr. D. Kushida during the period of my translation, especially
the valuable review of this book from Prof. Jeffrey Johnson and Dr. Mike
Richards, Open University, UK, I transfer my deep appreciate to them.
Because of my insufficiency of knowledge on translation between Japanese
and English, there might have some mistakes in this book. It will be very kind
if you can indicate them to me and I will make my best efforts continuously
to improve them.

November 2002 Tao ZHANG

Preface

The editor and composer is engaging in the study on systems control and
their applications in university. As one of his research fields, with a plenty of
opportunities of discussion with Kyura, who is long-term working on the servo
controller design and its application in mechatronic industry, on the control
of mechatronic machine during the past ten years, the cooperative research
has been made greatly progress. These discussion meetings were held several
times once a year. Achievements on the items of these discussion meetings were
compiled into reports, each of which has between 50∼100 pages. Then, many
valuable commends were obtained from Kyura in terms of these achievements.
Moreover, new research directions were found. The distributions of co-authors
are that,
Kyura illustrated the issues on the control in the servo parts of an indus-
trial robot adopted in industry, numerical control working machine, three-
dimensional measurement machine, a mechatronic machine called a chip
mounter, etc.;
Nakamura explained these issues in systems control theory and formulized
the obtained crucial points of problem solution;
Goto made computer simulations for the solution of these problems as
well as verified the appropriation of these distinct theoretical results by us-
ing mechatronics-related experimental devices in the laboratory. In addition,
among the undergraduate students, master students, doctor students who
have interests in the control of mechatronic servo system, some items were
allocated to them and the relevant achievements were obtained by research
supervision. So far, about 60 conference presentations as well as 20 reviewed
papers on the mechatronic control have been completed.
Based on the above research story, the motivation of writing this book was
written down. Through the question answering in the conference for presenting
the obtained research achievement or dealing with the paper reviewers or the
conversation in the visiting the universities or research institutes which are
doing research on robot manipulator, we felt strongly that a lot of researchers
X Preface

or engineers have many misunderstanding on the already solved problems in

industry.
In fact, according to the words of coauthor Kyura, the strategies for the
encountered problems in the servo controller design in industry depending on
the experience with trial errors of designers and engineers are just responding
to the demand of the world. These technologies have not become distinct in
the so-called know-how world. Since they are not logical strategies, even suc-
cessfully performing them, there are still many cases that the understandable
explanation can not be obtained. In industry, even the clarification of the un-
desired points was conducted concretely, the contents are not announced. It
is still in the present condition that why the good pursuit is hardly realized.
Through the collaboration, the essence of problems encountered in indus-
try was analyzed and formulized logically and mathematically. According to
the solution of derived equations and the verification of justifiability of these
results, many useful items were obtained. At the present time, these items
are summarized systematically. The opaque technologies under the name of
know-how until now are explained distinctly. Therefore, many researchers or
engineers can know them widely and effectively use them. These are the mo-
tivation of writing this book.
The problems discussed in this book are based on the common needs of
industries rather than the pending problem areas of one research engineer in
industry. The results for them, which were being caught empirically until now,
are clarified logically. Therefore, the results are adapted for a real machine,
and various performances or control methods of controller design previously
determined with the experience of an expert can now are decided logically
based on the adopted results. Moreover, a know-how only suitable for special
situations until now, is changed into a more complicated and more ingenious
universal technology. This book is unique in handling these problems.
The organization of this book is that, the design of the servo controller of
mechatronic servo system is with respect to the fields of modeling, analysis and
controller design control. It is from the introduction to the following chapters
till 7.
In the introduction, the outline of mechatronic servo system and its main
points of the problem in industry are given.
In chapter 2, these problems are solved reasonably, which are the achieve-
ments of cooperative research of co-authors. In each chapter, main points are
attached.
The present conditions and problems in industry, main results, significant
of results as well as the explanation of the main points of applications about
each item are conducted at the commencement of each chapter.
It is acceptable even if the reader reads this book from the beginning. For
the reader who wants to learn with the purpose of understanding, it is also
good to learn each section of one chapter for dealing with the problems which
are combined from the problems personally held and described in introduction.
In each section of each chapter, main points are inserted at the beginning of
 Preface XI

each section for recommending the text reading thoroughly. The contents of
each section are based on one of authors’ papers which is specified with the
quotation article number in the place of the bibliography list. Finally, the
book contains an index, a glossary of terms, a collection of symbols and a
description of the experimental devices used in our experiments.
During preparation, the book was read with distribution of sections of this
book by seven master students of department of advanced systems control and
engineering, graduate school of science and engineering, Saga university (Mr.
Shigeto Aoki, Mr. Tatsuro Katafuchi, Mr. Daisuke Kushida, Mr. Kenta Shira-
masa, Mr.Shojiro Yamagami, Mr. Masashi Tamura, Mr. Minoru Nishizawa).
Referring to their impressions of the book, the book was revised to improve
readability. The significance of the problems took up it in this book and the ef-
forts are in making the essence of a problem to the formula appropriately. The
keys to solution of many formulas are the easily adopted basis of classical con-
trol (Laplace transformation) or modern control (differential equation) learnt
with the university bachelor degree, and the most fundamental knowledge in
the control theory explained in appendix. Therefore, not only the enterprise
directly related with system control or postgraduate students of university or
researchers, but also the undergraduate students with the purpose to make the
theory learnt in university into practice can be expected to read it widely. We
expect that the knowledge obtained from this book can be adopted widely in
mechatronic industries, and expect simultaneously that the research planted
the root in this kind of ground will be expanded at the research institute etc.
of an enterprise and, expecially and university.
At the end of the preface, since the materials of this book are all ob-
tained from the cooperative research, the conditions of cooperative research,
thoughts and feelings aroused from the cooperative research, are written as
below, though it may be redundant.
1. The cooperative researcher should be proficient in each field.
2. Keep frequent discussion for a long time among cooperative researchers.
3. Respect the views of the partner mutually.
4. Fine mutual human relations.
Concerning the writing of this book, Mr. Kojiro Kobayashi, Department
of production of the Morikita press, and Mr. Shoji Ishida, Department of
compilation of the Morikita press, took care of it very much. All my great
gratitude are here expressed.

October 1998 Editor-composer Masatoshi NAKAMURA