ABSTRACT
This chapter studies and solves a variety of problems in motion control for mechatronic systems, including electric motors, power electronics, and motion controllers. It demonstrates how to control electromechanical systems to ensure a spectrum of performance objectives imposed on advanced mechatronic systems. The chapter describes the design and analysis of microprocessor-controlled mechatronic systems with permanent-magnet synchronous motors. Permanent-magnet DC motors, which are actuators in mechatronic systems, need to be controlled using power amplifiers. The resulting mathematical models must be used in analytical and numerical analysis of mechatronic systems. The chapter addresses and solves the problem of nonlinear analysis and design of mechatronic systems by augmenting permanent-magnet DC motors with power converters. The basic components of mechatronic systems with permanent-magnet synchronous motors are synchronous motors with attached mechanisms, power converters, angular displacement, and currents sensors, as well as analog or digital controllers.
