Integrated Servo-mechanical Design of High Performance Mechanical Systems

Abstract

High-performance mechatronics may not satisfy control specifications as a result of the mechanical plant design. In this dissertation, novel integrated servo-mechanical design algorithms are proposed for linear time-invariant feedback control systems with a single-input-single-output mechanical plant. A generalized Kalman-Yakubovich-Popov Lemma-based algorithm is first proposed for reshaping the plant at high frequencies based on a low-order controller to satisfy performance specifications. The algorithm is then modified with a convex separable parametrization for simultaneous reshaping of both mechanical plant and the low-order controller considering an individual chance-constrained robust stability criterion with ambiguities. Finally, a graphical approach is proposed for reshaping the plant based on a low-order controller by translating the performance and robust stability specifications into allowable regions for the Nyquist plot of the open loop transfer function. The effectiveness of the proposed algorithms is verified in simulations using the Pb-Zr-Ti active suspension from a commercial 3.5" dual-stage hard disk drive.