A knowledge based mechatronics approach to controller design

When considering a mechatronic approach to controller design, the impact of the machine design on the controllability issues are critical to the intrinsic safety. The function-means tree approach allows a more broad description of the machine control problem by allowing qualitative issues such as output sensor noise, relative power of the actuation system to be addressed simply and effectively without the rigorous mathematical detail. The resulting controller designs are conceptual and are chiefly based on qualitative information. They allow direct application to a test rig or use in a simulation environment for performance evaluation. It is expected that several designs would be investigated. The knowledge base for this approach has been incorporated in the Schemebuilder: Mechatronics Module. The paper describes the function-means tree approach and its application in conceptual controller design for a servo-hydraulic actuator position control system.