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Introduction to Mechatronics
EEE436
Definition of Mechatronics
Mechatronics basically
refers to mechanical
electronic systems and
normally described as a
synergistic combination of
mechanics, 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. Tetsuro Mori, a
senior engineer of the Japanese company Yaskawa, in 1969.
Sensors
Actuator
Command Signal
Sensing signal
Microprocessor
or
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 Actuati
on
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.
Example 1 of Mechatronic Systems
Robot
Robot examples
Robot sensors
Example2 of Mechatronic Systems
Motion and Force Control of an Indirect
Drive Robot
Examples: 3 of Mechatronic Systems
program to track straight line
• program for collision avoidance in outside
corridor
Example: 4 of Mechatronic Systems
A computer disk drive is
an example of a
rotary mechatronic
system
• Requires
– Accurate positioning of
the magnetic read head
– Precise control of
media speed
– Extraction of digital
data from magnetic media
Example: 5 of Mechatronic Systems
Washing 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
Example: 6 of Mechatronic Systems
Mechatronic is every where
Example: 7 of Mechatronic Systems
Mechatronic is every where
Example: 8 of Mechatronic Systems
Mechatronic is every where
Example: 9 of Mechatronic Systems
Mechatronic is every where
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
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
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
Infrared Ranging
Magnetic Reed Switch
Gas
Radiation
Piezo Bend
Resistive Bend
Pendulum Resistive
Tilt
CDS Cell
IR Modulator
Receiver
UV Detector
Metal Detector
A collection of Sensors
Gyroscope
Compass
PIR
GPS
Magnetometer
Sonar Ranging
Rotary
Encoder
Pressure
Pyroelectric
Detector
Accelerometer
Linear Encoder
Camera
Lever Switch
Laser Rangefinder
Microphone
Signal conditioning circuits
• Opamps circuit
• ADC/DAC circuits
• Wheatstone bridge
Sig
Cond1
Sig
Cond2
Sig
Cond3
Analog
MUX.
S/H ADC uC
DAC
Sig
Cond
Analog Output
Actuating System: Pneumatic and Hydraulic
Hydraulic Power Supply
Pump
Check valve
Accumulator
Pressure relief valve
Directional control valve
Pressure control valve
Process control valve
Actuating System: Mechanical
• Types of motion
– Freedom
Kinematic
chains, bar
chain links,
slider-crank
mechanism
Cams, gear
trains
Belt and chain
drives,
bearings
•
Position
O
C
A
B
1
θ
2
θ
3
θ
4
θ
2
2 , α
w
L-1
L-2
L-3
L-4
3
3, α
w
4
4 , α
w
x
y
(a) (b) (c)
(d) (e)
Axis
Axis
Axis
Axis
Axis
Piston
(Slider)
Cylinder
Shaft
Crank
Fuel
RACK
PINION
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
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 d
Volum Ah Ah
dt dt
= = &
r
gh p
ρ + ⇒ Cr
p gh
ρ
=
gh
ρ &
IN O
U
T
C
r
q q Ah A
p g
gh ρ
ρ
−
= =
&
&
&
the rate of change in
pressure, p,
the input flow rate, qIN ,
the output flow rate, qOUT
System Response .
• Dynamic response
• Transient and steady state response
• First and second order system
• Frequency response system
t
1
0.5
td
0
r
t
p
M p
t s
s
±1%
y(t)
Closed Loop Control.
• Closed loop controls
• P, PI,PID controllers
• Digital Controllers
• Implementing control modes
• Adaptive control
Microprocessors / Microcontroller systems
PLC System
PLC system
PLC system
• PLC programming
• PLC Ladder and functional
block
Case Study: Motor Control
Pc Board
GPIB
Serial/paralell
CAN BUS
PC-based Measurement and Control
Case Study: Motor Control
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

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ch1 introduction to mechatronics.pdf

  • 2. Definition of Mechatronics Mechatronics basically refers to mechanical electronic systems and normally described as a synergistic combination of mechanics, 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. Tetsuro Mori, a senior engineer of the Japanese company Yaskawa, in 1969.
  • 3. Sensors Actuator Command Signal Sensing signal Microprocessor or 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 Actuati on 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.
  • 4. Example 1 of Mechatronic Systems Robot Robot examples Robot sensors
  • 5. Example2 of Mechatronic Systems Motion and Force Control of an Indirect Drive Robot
  • 6. Examples: 3 of Mechatronic Systems program to track straight line • program for collision avoidance in outside corridor
  • 7. Example: 4 of Mechatronic Systems A computer disk drive is an example of a rotary mechatronic system • Requires – Accurate positioning of the magnetic read head – Precise control of media speed – Extraction of digital data from magnetic media
  • 8. Example: 5 of Mechatronic Systems Washing 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
  • 9. Example: 6 of Mechatronic Systems Mechatronic is every where
  • 10. Example: 7 of Mechatronic Systems Mechatronic is every where
  • 11. Example: 8 of Mechatronic Systems Mechatronic is every where
  • 12. Example: 9 of Mechatronic Systems Mechatronic is every where
  • 13. 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
  • 14. 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
  • 15. 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
  • 16. Infrared Ranging Magnetic Reed Switch Gas Radiation Piezo Bend Resistive Bend Pendulum Resistive Tilt CDS Cell IR Modulator Receiver UV Detector Metal Detector A collection of Sensors Gyroscope Compass PIR GPS Magnetometer Sonar Ranging Rotary Encoder Pressure Pyroelectric Detector Accelerometer Linear Encoder Camera Lever Switch Laser Rangefinder Microphone
  • 17. Signal conditioning circuits • Opamps circuit • ADC/DAC circuits • Wheatstone bridge Sig Cond1 Sig Cond2 Sig Cond3 Analog MUX. S/H ADC uC DAC Sig Cond Analog Output
  • 18. Actuating System: Pneumatic and Hydraulic Hydraulic Power Supply Pump Check valve Accumulator Pressure relief valve Directional control valve Pressure control valve Process control valve
  • 19. Actuating System: Mechanical • Types of motion – Freedom Kinematic chains, bar chain links, slider-crank mechanism Cams, gear trains Belt and chain drives, bearings • Position O C A B 1 θ 2 θ 3 θ 4 θ 2 2 , α w L-1 L-2 L-3 L-4 3 3, α w 4 4 , α w x y (a) (b) (c) (d) (e) Axis Axis Axis Axis Axis Piston (Slider) Cylinder Shaft Crank Fuel RACK PINION
  • 20. 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
  • 21. 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 d Volum Ah Ah dt dt = = & r gh p ρ + ⇒ Cr p gh ρ = gh ρ & IN O U T C r q q Ah A p g gh ρ ρ − = = & & & the rate of change in pressure, p, the input flow rate, qIN , the output flow rate, qOUT
  • 22. System Response . • Dynamic response • Transient and steady state response • First and second order system • Frequency response system t 1 0.5 td 0 r t p M p t s s ±1% y(t)
  • 23. Closed Loop Control. • Closed loop controls • P, PI,PID controllers • Digital Controllers • Implementing control modes • Adaptive control
  • 27. PLC system • PLC programming • PLC Ladder and functional block
  • 28. Case Study: Motor Control
  • 30. Case Study: Motor Control
  • 31. 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