mechatronic intro
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mechatronic introTRANSCRIPT
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INTRODUCTION TO MECHATRONIC SYSTEMS [BEKM 2342]
Nursabillilah Mohd Ali Department of Mechatronics
Faculty of Electrical Engineering
Lecture #1
Introduction to Mechatronics System
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)
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Lecturer Mrs Nursabillilah Mohd Ali, Room: B/1-10 E-mail : [email protected]
Course Website http://ulearn.utem.edu.my/
You may download: Teaching Plan Lecture slides Project information Assignment etc
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)
Teaching Team
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Course Objectives
Upon completing this subject, the student should be able to:
Explain basic concept of mechatronic systems.
Explain the working principles mechatronics
systems.
Analyze selection and integration of mechatronics components.
Identify and analyse basic mechatronics systems
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)
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Textbook
[1] Bolton, W., Mechatronics: Electronic Control
Systems in Mechanical and Electrical Engineering,
4th ed., Prentice-Hall, 2008.
[2] Saeed B. Niku: Introduction to Robotics, Prentice
Hall, 2011
[3] Medriam, J.L: Engineering Mechanics: Static, 5th
edition, John Wiley & Sons.
[4] Devdas, S., Richard, A.K., Mechatronics System
Designs, PWS, 1997.
[5] Auslander, D.M., Mechatronics: Mechanical System
Interfacing, 1996.
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)
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Assessment
Subject Implementations
Lectures :3 hours per week for 14 weeks (Total = 42 hours)
Tutorials : 1 hours per week for 4-6 weeks (Total = 4-6 hours)
Subject Evaluations
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)
Assessment* Marks
Quiz 10%
Test 1 10%
Test 2 15%
Case Study / Mini Project 15%
Final Examination 50%
Total 100%
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Tentative Course Outline
1) Introduction to Mechatronics System
2) Sensors and Transducers
- Introduction, performance terminology, static and dynamic characteristics,
Example of relevant sensors
3) Sensors and Transducers
- Fluid pressure sensors, liquid flow & level sensors, temperature sensors,
selection of sensors and inputting data by switches.
4) Signal Conditioning
- Introduction, operational amplifier, protection, filtering, wheatstone bridge,
digital signal and PWM
5) Data Presentation Systems
6) Pneumatic and Hydraulic Actuation Systems
7) Mechanical Actuation Systems
8) Electrical Actuation Systems
9) Basic System Models
10) System Models
11) Dynamic Responses of Systems
12) Brief description of Mechatronics System Related Topics
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)
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Lectures
Attend to the lecture
Do not talk about your love life or answer your mobile phone
Ask (sensible) questions as much as you like
No sleeping or working on other homework
Homework/Project
Do it by yourself
Dont be late
Take the initiative and learn something !
What I Expect from You
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)
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MECHA + TRONICS
mechanical electronics
The technical term, Mechatronics, was coined by
Mr. Tetsuro Mori, in 1969 when he worked for
Yaskawa Electric Corporation in Kitakyushu in
order to propose the new technology to produce
new machine tools by integrating machines and
electronics.
What is Mechatronics ?
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)
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Integration of microprocessor control system, electrical systems and mechanical system" (Bolton, Mechatronics)
The synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes" (Journal of Mechatronics)
Definitions of Mechatronics
What is Mechatronics ?
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)
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The interdisciplinary field of engineering dealing with the design of products whose function relies on the synergistic integration of mechanical and electronic components coordinated by a control architecture. (Alciatore, D.G. and Histand, M.B.)
Definitions of Mechatronics
What is Mechatronics ?
the synergistic use of precision engineering, control theory, computer science, and sensor and actuator technology to design improved products and processes (ME Magazine)
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)
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What is Mechatronics ?
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)
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Mechatronics
The synergistic combination of mechanical, electrical,
and computer engineering
Emphasis on integrated product design Optimal combination of appropriate technologies
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Micro to Macro
Applications
Mechatronics Systems
MEMS
Consumer
Electronics
Tools
Computers
Cars
Stealth Bomber
High Speed Trains
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Desktop sized Factory Build small parts with a small factory
Greatly reduces space, energy, and materials
Mechatronics Systems -Manufacturing Applications-
Micro Factory Micro Factory Drilling Unit
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Typical Applications Brake-By-Wire system Steer-By-Wire Integrated vehicle dynamics Camless engines Integrated starter alternator
Automobiles
OEM Driven Reliability Reduced weight Fuel economy Manufacturing flexibility Design freedom Advanced safety features Cost
Mechatronics Systems -Transportation Applications-
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Smart Doorlock
Switchboard with
CAN Bus Gateway Smart Window Lift-unit
CAM Bus
Smart Mirror motor-unit pin-header
- Door System/Module-
Mechatronics Systems
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-Smart Robotics Aplications-
Robots can vacuum floors and clean gutters so you don't have to.
Cleans Gutter
Vacuum Floors
Mechatronics Systems
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Washing Machine Solution Power Supply
Rectifiers/Regulator
Pressure Sensor
MPX5006/MPX2010
Mechatronics Systems -Smart Home Applications-
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Modeling and
Simulation
Automatic
Control
Artificial
Intelligence
Mechanical
Systems
Electrical
Systems
Actuators
Sensors
Computer
Systems
D/A
A/D
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Electromechanical Real-Time InterfacingInformation Systems
Mechatronics Systems
What is Mechatronics ?
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)
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Key Elements of Mechatronics
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)
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Key Elements of Mechatronics
Electrical
Systems
Computer
Systems
Information
Systems
Mechanical
Systems
MECHATRONICS
Devdas Setty, et.al., Mechatronics System Design
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)
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Information Systems
An information system is combination of Signal processing Control Systems numerical method
For Mechatronics system, information system concerns with modeling and simulation automatic control numerical method for optimization
Key Elements of Mechatronics
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Modeling is the process of representing the behavior of real system (physical system) by collection of mathematical equation and/or logic.
Physical
system
model
input output
Information Systems -Modeling-
Key Elements of Mechatronics
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Simulation is the process of solving the model and is performed on a computer.
We need a programming language to make simulation: Machine language: assembler Text-based language: C, Basic, Fortran Visual programming language: Simulink, LabVIEW, VisSim
Information Systems -Simulation-
Key Elements of Mechatronics
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Information Systems -Control-
Key Elements of Mechatronics
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Continuous control System The variables and parameters to be controlled are continuous. Topics of Teknik Pengaturan course
Discrete Control System Variables and parameters are discrete, mostly binary
Information Systems -Control-
Key Elements of Mechatronics
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continuous control
Information Systems -Control-
Key Elements of Mechatronics
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Controller Plant
Sensor
Desiredoutput
ActualoutputError
Plantinput
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Why do we need a continuous controller ?
Information Systems -Control-Closed Loop System
Key Elements of Mechatronics
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A controller is required to process the error signal to satisfy a certain criteria such as:
Steady-state error Transient response Disturbance rejection Sensitivity to parameter change in the plant (robustness)
Information Systems -Control-
Key Elements of Mechatronics
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Discrete Control System:
Information Systems -Control-
Key Elements of Mechatronics
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Discrete Control System
Sequential Control System
Information Systems -Control-
Key Elements of Mechatronics
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)
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drill
work piece
Switch 2
Switch 1
Switch 3
Automatic drilling machine
How to control the sequential operation of the automatic drilling ?
The aim of the sequential control is to ensure that the sequence of event take place.
Information Systems -Control-
Key Elements of Mechatronics
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)
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The control system for the automatic drilling machine is required to: start lowering the drill when the workpiece is in position start drilling when the drill reaches the workpiece stop drilling when the drill produces the required depth of the hole retract the drill and then switch off wait for next workpiece to be put in position before repeating the operation.
How if there are many holes in a workpiece ?
Information Systems -Control-
Key Elements of Mechatronics
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)
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Mechanical systems are concerned with the behavior of matter under the action of forces which cause motions.
Fluid and thermal systems are also included in the mechanical systems.
Mechanical Systems
Key Elements of Mechatronics
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)
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Mechanical Systems
Key Elements of Mechatronics
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)
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Mechanical Systems
Key Elements of Mechatronics
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)
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Electrical systems are concerned with the behavior of three fundamental quantities: charge, current and voltage.
Electrical systems consist of : Power system Electronics
Electrical Systems
Key Elements of Mechatronics
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)
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Power systems are designed to transmit large quantity of electrical energy.
Power systems devices Rotating machine (motor) convert energy from electrical to mechanical Generator convert energy from mechanical to electrical
Electrical Systems -Power-
Key Elements of Mechatronics
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)
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Electronics are designed to transmit Small quantity of electrical energy.
Electronics devices Resistor Capacitor Transistor, diode Op-amp
Electrical Systems -Electronics-
Key Elements of Mechatronics
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)
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Common electrical components of mechatronics systems: motor and generator sensor and actuator solid state devices, including computers circuits (signal conditioning, impedance matching, including amplifier) Contact devices (relay, fuses, switch)
Electrical Systems -Basic Components-
Key Elements of Mechatronics
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)
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Computer systems is the study of how such circuits should be connected together to think efficiently.
The computer systems consists of hardware software.
Computer Systems
Key Elements of Mechatronics
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)
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For mechatronics application, computer system hardware is restricted to computer-specific circuits and devices including Digital logics: flip-flops, counters, timers, triggers microprocessor microcontroller personal computer (PC) programmable logic controller (PLC)
Computer Systems
Key Elements of Mechatronics
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka (UTeM)