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Introduction to Mechatronics
EEE436
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Definition of MechatronicsMechatronics basically refers to mecha nical elec tronic systems and normally described as a synergistic combination ofmechanics, electrical, electronics, computer and control which, when combined, make possible the generation of simple, more economic, and reliable systems.
The term "mechatronics" was first assigned by Mr. Tets uro Mori, a senior engineer of the Japanese company Yaskawa, in 1 969.
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Sensors
Actuator
Command SignalSensing signal
Microprocessoror
Microcontroller
PLANT
(Robot, Autonomous Guided vehicle, Numerical Controlled Machine,Vehicle engines, Consumer products, Conveyor systems, Assembly systems,
Cranes, Defense equipments, Air craft engines, Other machines, consumer products, etc)
Control code
Parameter, variables Actuation
Mechanical components
Physically, a mechatronic system is composed of four prime components. They are sensors, actuators, controllers and mechanical components. Figure shows a schematic diagram of a mechatronic system integrated with all the above components.
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Example 1 of Mechatronic SystemsRobot
Robot examples
Robot sensors
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Example2 of Mechatronic Systems
Motion and Force Control of an Indirect Drive Robot
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Examples: 3 of Mechatronic Systems
program to track straight line• program for collision avoidance in outside corridor
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Example: 4 of Mechatronic Systems
A computer disk drive isan example of a rotary mechatronicsystem• Requires– Accurate positioning ofthe magnetic read head– Precise control of media speed– Extraction of digital data from magnetic media
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Example: 5 of Mechatronic SystemsWashing Machine• System Requirements– Understanding of load sizes– Receptacle to hold clothes– ‘Plumbing’ (depth measurement)
– Agitation of drum– Ease of use, Reliability– Low Cost• Actuators– AC or DC Motors– Water inlet/drain• Sensors– Water level– Load speed/balance
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Example: 6 of Mechatronic Systems
Mechatronic is every where
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Example: 7 of Mechatronic SystemsMechatronic is every where
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Example: 8 of Mechatronic SystemsMechatronic is every where
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Example: 9 of Mechatronic SystemsMechatronic is every where
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Units to be Covered• 1 Introduction to mechatronic systems. • 2 Sensors & Signal Conditioning.• 3 Actuating Systems: Pneumatic and Hydraulic• 4 Actuating Systems: Mechanical, Electrical ; • 5 System Modeling: Mathematical Modeling, Electrical modeling• 6 System Modeling: Mechanical Modeling, Thermal Modeling.• 7 System Response.• 8 Closed Loop Control.• 9 Microprocessors and Microcontroller systems.• 10 PLC system.• 11 Mechatronic System Projects: Study case
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Our approach to cover essential units
• Lectures, • Exercises, • Assignments , • Projects and presentation
Assessment Methods:
Method Quantity (%)
Project 1 20
Midterm Exam(s) 2 40
Final Exam 1 40
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Sensors and Signal Conditioning • Sensors
performance: Range, span, accuracy, sensitivity, errors,.. Resolution
• Displacement, position, motion and velocity sensors,
• Fluid sensors, liquid flow, liquid level
• Temperature sensors• Light sensors
Thermistors
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Infrared RangingMagnetic Reed Switch
Gas
Radiation
Piezo Bend
Resistive Bend
Pendulum Resistive Tilt
CDS Cell
IR ModulatorReceiver
UV Detector
Metal Detector
A collection of Sensors
Gyroscope
Compass
PIR
GPS
Magnetometer
Sonar Ranging
RotaryEncoder
Pressure
PyroelectricDetector
Accelerometer
Linear Encoder
Camera
Lever Switch
Laser Rangefinder
Microphone
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Signal conditioning circuits
• Opamps circuit• ADC/DAC circuits• Wheatstone bridge
SigCond1
SigCond2
Sig Cond3
AnalogMUX.
S/H ADC uC
DACSig
CondAnalog Output
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Actuating System: Pneumatic and HydraulicHydraulic Power Supply
PumpCheck valveAccumulatorPressure relief valveDirectional control valvePressure control valveProcess control valve
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Actuating System: Mechanical• Types of motion
– FreedomKinematic
chains, bar chain links, slider-crank mechanism
Cams, gear trains
Belt and chain drives, bearings
•Position
O
C
A
B
1θ2θ
3θ
4θ22 , αw
L-1
L-2
L-3
L-4
33, αw
44 , αw
x
y
(a) (b) (c)
(d) (e)
Axis
Axis
AxisAxis
Axis
Piston(Slider)
Cylinder
Shaft
Crank
Fuel
RACK
PINION
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Electrical Actuation• Switching devices
– Mechanical switches• Keyboards, limit
switches, switches– Relays– Solid-state switches
• Diodes, thyristors, transistors
– On-Off• Solenoids
– Push something• Starter solenoid,
pneumatic or hydraulic valve
• Drive systems– DC., AC., or stepper
motors– How to achieve speed
control
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System Modeling: Mathematical Modeling
• Understand System Function and Identify Input/Output Variables
• Draw Simplified Schematics
Using Basic Elements
• Develop Mathematical Model
qIN qOUT
pC
h
pr
Ex: Consider an open tank with a constant cross-sectional area, A:
C
IN OUT
Cr
p
q q
p
C
=
− ==⇒ =
&
( ) ( )d dVolum Ah Ah
dt dt= = &
rgh pρ + ⇒Crp ghρ=
ghρ &
IN OUT
Cr
q q Ah A
p ggh ρρ− = =
&
&&the rate of change in pressure, p, the input flow rate, qIN ,the output flow rate, qOUT
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System Response .• Dynamic response• Transient and steady state response• First and second order system• Frequency response system
t
1
0.5td
0
rt
p
M p
t ss
±1%
y(t)
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Closed Loop Control .• Closed loop controls• P, PI,PID controllers• Digital Controllers• Implementing control modes• Adaptive control
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Microprocessors / Microcontroller systems
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PLC System
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PLC system
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PLC system• PLC programming• PLC Ladder and functional
block
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Case Study: Motor Control
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Pc Board
GPIBSerial/paralell
CAN BUS
PC-based Measurement and Control
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Case Study: Motor Control
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Projects• Select one of the Mechatronic components and write , present and
submit your projects• Examples:• Sensors:• Robot sensor• Biomedical engineering sensors• PIC, 8051• PLC• …….etc• DC motor speed control• Washing machine mechanism• ...etc......• Starting of IM with PLC• Temperature measurement and display with 8051