Course Syllabus

Utah State University

Electrical and Computer Engineering ECE5320 Mechatronics
Spring 2005 Offering

Course Description:
ECE5320 Mechatronics (4 cr). Principles, modeling, interfacing and signal
conditioning of motion sensors and actuators; hardware-in-the-loop simulation and rapid
prototyping of real-time closed-loop computer control of electromechanical systems;
modeling, analysis and identification of discrete-time or samples-data dynamic systems;
commonly used digital controller design methods; introduction to nonlinear effects and
their compensation in mechatronic systems. Three lectures, one lab. Prerequisite: ECE
5310. (4 cr) (Sp)

Instructor: Dr YangQuan Chen, Center for Self-Organizing and Intelligent Systems (CSOIS)
Department of Electrical and Computer Engineering,
Utah State University
Room: EL152, T: (435) 797-0148, F: (435)797-3054; E: yqchen@ece.usu.edu
W: http://www.csois.usu.edu/people/yqchen

Office Hours: MW 1:30 PM to 3:00 PM or by appointment.

Lecture Hours: First Day of Class: Jan. 10, 2005. Engr 202. 7:30-8:45AM.
Course Schedule: MW 7:30-8:45AM
Lecture / Lab: Engr 202 / EL 112, Controls Lab.

Prerequisites: ECE 5310/MAE 5310. Control Systems I (or Instructor’s approval), for all.

Course Web: http://mechatronics.ece.usu.edu/

Textbook: Mainly, two free handbooks, downloadable from http://mechatronics.ece.usu.edu/

1. Robert H. Bishop. Editor-in-chief. “The Mechatronics Handbook”, CRC Press, with ISA–
The Instrumentation, Systems, Automation Society (50 Chapters), 2002. ISBN: 0-8493-
0066-5. PDF files online available at www.engnetbase.com
Section One – Overview of Mechatronics
1. What is Mechatronics?
2. Mechatronic Design Approach
3. System Interfacing, Instrumentation and Control Systems
4. Microprocessor-Based Controllers and Microelectronics
5. An Introduction to Micro- and Nanotechnology
6. Mechatronics: New Directions in Nano-, Micro-, and Mini-Scale Electromechanical Systems
Design, and Engineering Curriculum Development
Section Two – Physical System Modeling
7. Modeling Electromechanical Systems
8. Structures and Materials
9. Modeling of Mechanical Systems for Mechatronics Applications
10. Fluid Power Systems
11. Electrical Engineering
12. Engineering Thermodynamics
13. Modeling and Simulation for MEMS
14. Rotational and Translational Microelectromechanical Systems: MEMS Synthesis,
Microfabrication,
Analysis, and Optimization

Created on 1/3/2005. Last modified by Dr YangQuan Chen on 01/04/2005 1

 15. The Physical Basis of Analogies in Physical System Models
Section Three – Sensors and Actuators
16. Introduction to Sensors and Actuators
17. Fundamentals of Time and Frequency
18. Sensor and Actuator Characteristics
19. Sensors
19.1 Linear and Rotational Sensors
19.2 Acceleration Sensors
19.3 Force Measurement
19.4 Torque and Power Measurement
19.5 Flow Measurement
19.6 Temperature Measurements
19.7 Distance Measuring and Proximity Sensors
19.8 Light Detection, Image, and Vision Systems
19.9 Integrated Micro-sensors
20. Actuators
20.1 Electro-mechanical Actuators
20.2 Electrical Machines
20.3 Piezoelectric Actuators
20.4 Hydraulic and Pneumatic Actuation Systems
20.5 MEMS: Microtransducers Analysis, Design and Fabrication
Section Four – Systems and Controls
21. The Role of Controls in Mechatronics
22. The Role of Modeling in Mechatronics Design
23. Signals and Systems
23.1 Continuous- and Discrete-time Signals
23.2 Z Transforms and Digital Systems
23.3 Continuous- and Discrete-time State-space Models
23.4 Transfer Functions and Laplace Transforms
24. State Space Analysis and System Properties
25. Response of Dynamic Systems
26. Root Locus Method
27. Frequency Response Methods
28. Kalman Filters as Dynamic System State Observers
29. Digital Signal Processing for Mechatronic Applications
30. Control System Design Via H2 Optimization
31. Adaptive and Nonlinear Control Design
32. Neural Networks and Fuzzy Systems
33. Advanced Control of an Electrohydraulic Axis
34. Design Optimization of Mechatronic Systems
Section Five – Computers and Logic Systems
35. Introduction to Computers and Logic Systems
36. Logic Concepts and Design
37. System Interfaces
38. Communication and Computer Networks
39. Fault Analysis in Mechatronic Systems
40. Logic System Design
41. Synchronous and Asynchronous Sequential Systems
42. Architecture
43. Control with Embedded Computers and Programmable Logic Controllers
Section Six – Software and Data Acquisition
44. Introduction to Data Acquisition
45. Measurement Techniques: Sensors and Transducers
46. A/D and D/A Conversion
47. Signal Conditioning
48. Computer-Based Instrumentation Systems
49. Software Design and Development
50. Data Recording and Logging
2. John G. Webster. Editor-in-chief. “Measurement, Instrumentation, and Sensors
Handbook” CRC Press. 1999. 0-8493-2145-X. PDF files online available at
www.engnetbase.com (101 Chapters!)

Reference Textbooks:
• Dan S. Necsulescu, Mechatronics, Prentice Hall, 2002, (311 p.). ISBN: 0-201-44491-7
• VICTOR GIURGIUTIU and SERGEY EDWARD LYSHEVSKI. “MICROMECHATRONICS -
Modeling, Analysis, and Design with MATLAB®”. CRC PRESS, Boca Raton London New York
Washington, D.C. (ISBN: 0-8493-1593-X). 2004.

Created on 1/3/2005. Last modified by Dr YangQuan Chen on 01/04/2005 2

More References: will be provided by the Instructor. Check here http://mechatronics.ece.usu.edu/

Topics Covered (subject to minor changes):

Overview of Mechatronics and Sample Mechatronic Systems:

• Overview of Mechatronics
• Sample mechatronics systems: (1) Hard-disk drives (HDD); (2) CSOIS ODIS
Sensors:
• Analog position measurement
• Digital position measurement
• Temperature sensors.
• Strain, stress, force measurement
• Accelerometers
Actuators:
• DC Motors
• Stepper motors
• Hydraulic motors
• Piezo actuators
Interfacing:
• Op amps,
• Signal conditioning,
• AD/DA,
• Power Amplifiers
• MATLAB serial communication
• LCD modules
Hardware-in-the-loop experimentation and rapid prototyping:
• MATLAB RTW
• Quanser Realtime Toolbox
• Embedded targets (Quanser QIC target)
Digital Control Systems Analysis:
• sampling process,
• signal reconstruction,
• linear discrete time models,
• z-transform,
• discrete transfer function,
• discrete system stability
Discrete-time System Identification
• Basic concept and procedures
• Least squares identification method for ARMA model
• Introduction to the sufficient excitation problem, under- and over-parameterization problems
Digital Controller Design:
• Approximate continuous design
• At-sample design
• PID control and relay automatic tuning.
• Repetitive control
• Adaptive feedforward control
• ZPETC
• Disturbance observer

Created on 1/3/2005. Last modified by Dr YangQuan Chen on 01/04/2005 3

Misc.
• PLC and Industrial Automation
• LabView virtual instrumentation/MATLAB Instrument Toolbox/Data Acquisition Toolbox
• Mechatronics – towards the successful design.

Course Requirements:

20 points – Homework/Literature Reports

20 points – Four quizzes (monthly – late January, February, March, April)
60 points – Labs/Design projects
No Mid-Term and Final Exam

Notes:
• Homework and readings will be posted on the course website. http://mechatronics.ece.usu.edu/
Students are responsible to check the course website in “real-time”. In some modules, a Survey
Report on what have not been learned will be required.
• Students must attend lectures in order not to miss the exams/quizzes.
• At least one complete design project will be required. The project will demonstrate all aspects of
the course for a specific problem. Students will be given some optional “mechatronic plants” to
choose.

Computer Usage:
Computers play an important role in the study of mechatronic systems. During labs, students will be given
explicit instruction in the use of the Matlab/Simulink visualization and simulation environment and will be
expected to use it extensively in their homework and design assignments.

Lab Documents/Manuals:
There are two complete sets of binders in EL112, Controls Lab, for all the related lab
documentation/manuals. Students can check the manuals in the Controls Lab but please do not remove
them from the Control Lab. Some softcopies are available at http://mechatronics.ece.usu.edu/ece5320/labs/
Students are responsible to read all the related documents/manuals before actually doing any hardware
related experiments. Specific instructions on documentation reading will be sent via email.

Laboratory Experience:

All labs, except the QIC target project, must be done independently in the lab. If you have any other ideas
to do your favorite project relevant to mechatronics, you can discuss with me for a trade – that is, I can
exempt you from some of the labs.

Planned Lab Topics:

1. Sensor/Actuator (interfacing, calibration, frequency domain characterization, MATLAB serial
interface, serial LCD display)
2. System Identification of a DC Motor system (3 lab sessions)
3. DC Motor position tracking (internal model principle)
4. DC Motor position setpoint control via PID controller using relay automatic tuning technique.
Design Projects:
1. Independent modeling, analysis, and design of a mechatronic control system (Select two
“mechatronic plants” from the Quanser rotary family).
2. Independent modeling, analysis, and design of a mechatronic system (e.g. fan-and-plate etc) using
the existing QIC target.

Created on 1/3/2005. Last modified by Dr YangQuan Chen on 01/04/2005 4

Specifically, the labs will follow the following sessions

1. Sensor/Actuator (interfacing, calibration, frequency domain characterization, MATLAB serial

interface, serial LCD display)
2. Modeling of DC Motor System by GP-6 Analog Computing
3. System Identification of an unknown plant simulated by GP-6
4. System Identification of a DC Motor system using PRBS
5. DC Motor position tracking (internal model principle)
6. DC Motor position setpoint control via PID controller using relay automatic tuning technique
7. Independent modeling, analysis, and design of a mechatronic control system (Select one
“mechatronic plant” from the Quanser rotary family).
8. ibid. – select a different plant from the Quanser rotary family.
9. Using Quanser QIC target, independent modeling, analysis, and design of a mechatronic system
(e.g. fan-and-plate, mobile robot etc) – Only this one permits team work.

Details of lab requirements will be sent separately.

Hints on how to get an “A”:

• Have enough sleep the night before lecture
• Do not miss any class – But I excuse “planned miss in advance” of the lecture
• Submit homework in time that was done by yourself
• Visit http://mechatronics.ece.usu.edu/ at least 3 times a week.
• Go through all materials posted on http://mechatronics.ece.usu.edu/ whenever possible,
• Maintain a professional, neat, well organized Lab Notebook – it strongly helps since Labs
stand 60%. I will check EVERY one’s Lab Notebook before I give the final grade!
• Appeal when you think you grade is under-graded. Any supporting reason is acceptable.
• Feedback by talking to me as frequently as needed when you have trouble in learning.

Created on 1/3/2005. Last modified by Dr YangQuan Chen on 01/04/2005 5

 ECE5320 Mechatronics
Spring 2005
Notes on Controls Lab (EL112) Security
Rationale:
Ensure that all students in ECE5320 Mechatronics (2005 Offering) can access the
Controls Lab “24 hours a day and 7 days a week”. Safety FIRST! I do not encourage any
one to stay in the lab without Lab TA’s supervision.

Method:
Students apply the “access card” of EL112 from Heidi Harper by filling up a
request form. Sign and date it. Then, request the Instructor’s (Dr. Chen) signature.
By signing the form, you agree to follow for all the related lab regulations.

Special things to note:

1. Keep the lab door always shut at any time.
2. Use the code to access the lab.
3. Do not open the lab door for any one who is knocking.
4. Do not use web browser to explore unrelated contents.
5. Do not bring your friends in the lab with you.
6. Do not drink or eat in the lab.
7. Log your time slot staying in the lab on the “Controls Lab Log Book”.
8. Place back the reference manuals and Quanser plants to their original place.
9. House keeping your bench/workstation after use.
10. Shut down the computer after use. Switch off the power (right front corner under
the table).

Other hints:
11. Report any abnormal phenomenon in lab equipments to Dr Chen (EL 216, Tel
797-0148) or Justine (EL 100, Tel 7970437, next door to Controls Lab EL121)
12. Do not save your files in drive “c:”. It will be automatically purged when
computer is restarted. Only store your files in drive “d:” or “e:”.
13. It is your responsibility to make file backup. You should not expect that the files
you saved previously will still be there. Bring a CD R/W blank disk for backup –
every mechatronics station has a CD R/W burner.
14. Do not do house keeping of the hard disk drive files. Always do this with your
own directory.
15. When you do hardware wiring, please double check or ask some one else to
double check for you, before you really apply your control signal.
16. When you do wiring, if you are not 100% sure, do not apply signal. Check with
Dr Chen or Lab TA first.
17. Do not alter any fixed wiring. Always talk to Dr Chen or Lab TA first.
18. Baby sit your control system! Do not let it run with no one supervising it.
19. You are welcome to explore more on mechatronics labs. But, please use your
spare time at night and give day time to others.
20. Visit http://mechatronics.ece.usu.edu/ constantly and read the relevant lab
manuals carefully. Update your own Lab Notebook frequently. It counts.

Created on 1/3/2005. Last modified by Dr YangQuan Chen on 01/04/2005 6

Keep the door
of Controls Lab
always closed !
- The Management

Created on 1/3/2005. Last modified by Dr YangQuan Chen on 01/04/2005 7