A Recursive Description of Mixed Time- and Event-driven Dynamics in Mechatronic Systems

This paper introduces a recursive systematic approach for design of event-and data-flow control structures in mechatronic systems. The key idea, illustrated in this paper, is to widen the idea of well known state space description of time-driven systems to the field of event-driven systems, which results in a unified recursive modeling approach for both kinds of processes. The interaction between the time-driven and event-driven processes is introduced by converting continuous values into the logical conditions on one side, and by converting discrete logic states into the appropriate continuous reference values on the other side. Proposed approach is illustrated by simulation and experimental results for the lab-scale single axis drive position homing sequence procedure.