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.
Control code
Sensing signal
Sensors
Microprocessor
or
Microcontroller
Parameter, variables
Mechanical
Command Signalcomponents
Actuator
Actuati
on
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)
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
20
Midterm Exam(s)
40
Final Exam
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
A collection of Sensors
GPS
Linear Encoder
Camera
Gyroscope
Lever Switch
Sonar Ranging
Laser Rangefinder
Accelerometer
Piezo Bend
PIR
Rotary
Encoder
Resistive Bend
Pressure
Pyroelectric
Detector
Metal Detector
Pendulum Resistive
Tilt
UV Detector
Gas
Magnetometer
IR Modulator
Receiver
Microphone
Infrared Ranging
CDS Cell
Compass
Radiation
Magnetic Reed Switch
Signal conditioning circuits
Sig
Cond1
Sig
Cond2
Analog
MUX.
S/H
ADC
uC
Sig
Cond3
Analog Output
Opamps circuit
ADC/DAC circuits
Wheatstone bridge
Sig
Cond
DAC
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
y
Types of motion
Freedom
Kinematic
chains, bar
chain links,
slider-crank
mechanism
Cams, gear
trains
Belt and chain
Fuel
drives,
bearings
w3 , 3
Position
L-3
PINION
w4 , 4
L-4
C
w2 , 2
L-2
RACK
L-1
1
x
Axis
Axis
Axis
(a)
(b)
(c)
Crank
Axis
Piston
(Slider)
Axis
Cylinder
Shaft
(d)
(e)
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
Ex:
Consider an open tank with a
constant cross-sectional area, A:
h
pC
gh + pr pCr = gh
qIN qOUT =
p&Cr =
pr
qIN
pC =
qOUT
the rate of change in
pressure, p,
the input flow rate, qIN ,
the output flow rate, qOUT
C=
d
d
Volum
=
(
) ( Ah) = Ah&
dt
dt
gh&
qIN qOUT Ah& A
= &=
p&Cr
gh g
System Response .
Dynamic response
Transient and steady state response
First and second order system
Frequency response system
y(t)
Mp
1%
1
0.5
td
tr
ts
t
s
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-based Measurement and Control
Pc Board
Serial/paralell
GPIB
CAN BUS
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
