Intro Diseño Sist Mecatronicos

1
Diseo de Sistemas Mecatronicos I

Dr. Jorge A. Olrtegui Yume, Ph.D.
INTRODUCCION AL PROCESO DE
DISEO MECATRONICO
Escuela Acadmico Profesional de Ingeniera Mectronica
Universidad Nacional de Trujillo
Introd. al Diseo y Constr. de Maquinas
Dr. Jorge A. Olortegui Yume, Ph.D.
MECATRONICA
Diferentes enfoques y definiciones debido a que es una
disciplina novel desarrollada en forma natural e
independiente en diversos pases por ingenieros
mecnicos, ingenieros elctricos, ingenieros electrnicos
ingenieros de control e ingenieros de software
MECATRONICA
La mecatrnica es una disciplina que une la ingeniera mecnica, ingeniera
electrnica, ingeniera de control e ingeniera informtica;la cual sirve para disear y
desarrollar productos que involucren sistemas de control para el diseo de productos
o procesos inteligentes, lo cual busca crear maquinaria ms compleja para facilitar
las actividades del ser humano a travs de procesos electrnicos en la industria
mecnica principalmente
MECATRONICA
La mecatrnica es una disciplina que une la ingeniera mecnica, ingeniera
electrnica, ingeniera de control e ingeniera informtica;la cual sirve para disear y
desarrollar productos que involucren sistemas de control para el diseo de productos
o procesos inteligentes, lo cual busca crear maquinaria ms compleja para facilitar
las actividades del ser humano a travs de procesos electrnicos en la industria
mecnica principalmente
DISEO EN MECATRONICA
Sequential engineering design
PHYSICAL SYSTEMS
INFORMATION
SYSTEMS
CUESTIONES EN EL DISEO INTEGRADO EN
MECATRONICA
Mechatronics approach relies heavily on the use of system
modeling and simulation throughout the design and prototyping
stages
THEN, Programming in a visually intuitive environment.
block diagrams, flow charts, state transition diagrams, and
bond graphs
Concurrent Engineering Design and Modeling/Simulation
Fortran
Visual
Basic
C
Pascal
MATRIXxTM
Easy5TM
SimulinkTM
Agilent VEETM
DASYLabTM
VisSimTM
LabVIEWTM
MECATRONICA
Hardware and Software Integration
Hardware integration results from designing the mechatronic system as an
overall system and bringing together the sensors, actuators, and
microcomputers into the mechanical system.
Software integration is primarily based on advanced control functions.
MECATRONICA
Mechatronic design supports the concepts of concurrent
engineering
Better definition of the product
without late changes
Design for manufacturing and
assembly undertaken in the early
design stage
Process on how the product
development is well defined
Better cost estimates
Decrease in the barriers between
design and manufacturing
High quality
Robustness
Low cost
Time to market
Customer satisfaction
MECATRONICA
Mechatronic design supports the concepts of concurrent
engineering
31.1% cancellation rate for software development projects.
222% time overrun for completed projects.
16.2% of all software projects were completed on time and within budget.
Maintenance costs exceeded 200% of initial development costs for
delivered software.
The traditional approach is a sequential engineering approach. A survey of
software dependent projects found
Mechatronic
design
Concurrent
engineering
design
MECATRONICA
Mechatronic design supports the life cycle design
Delivery: Time, cost, and medium.
Reliability: Failure rate, materials, and tolerances.
Maintainability: Modular design.
Serviceability: On board diagnostics, prognostics, and modular design.
Upgradeability: Future compatibility with current designs.
Disposability: Recycling and disposal of hazardous materials.
EL PROCESO DE DISEO MECATRONICO
CARACTERISTICAS IMPORTANTES
Modeling: Block diagram or visual interface
for creating intuitively understandable
behavioral models of physical or abstract
phenomenon. The ability to encapsulate
Complexity and maintain several levels of
subsystem complexity is useful.
Simulation: Numerical methods for solving
models containing differential, discrete, hybrid,
partial, and implicit nonlinear (as well as linear)
equations. Must have a lock for real-time
operation and be capable of executing faster
than real time.
Project Management: Database for
Maintaining project information and subsystem
models for eventual reuse.
Design: Numerical methods for constrained
optimization of performance functions based
on model parameters and signals. Monte Carlo
type of computation is also desirable.
Analysis: Numerical methods for frequency-
domain, time-domain, and complex-domain
design.
Real-Time Interface: A plug-in card
is used to replace part of the model with
actual hardware by interfacing to it with
actuators and sensors. This is called
hardware in the loop simulation or rapid
prototyping and must be executed in real
time.
Code Generator: Produces efficient
high-level source code from the block
diagram or visual modeling interface. The
control code will be compiled and used on
the Embedded processor. The language is
usually C.
Embedded Processor Interface:
The embedded processor resides in the
final product. This feature provides
communication between the process and
the computer-aided prototyping
environment. This is called a full system
prototype.
HARDWARE-IN-THE-LOOP SIMULATION
Non-computer subsystems
replaced with actual hardware.
Sensors and actuators interface
signals to connect the hardware
subsystems to the model.
The resulting model is part
mathematical and part real.
Real part of model evolves in real
time and mathematical part
evolves in simulated time, 2 parts
need to be synchronized.
COMPREHENSIVE DEVELOPMENT OF
MECHATRONIC SYSTEMS
Modeling and simulation
Model building for static and dynamic models
Transformation into simulation models
Programming and computer-based control
Final implementation
HARDWARE-
IN-THE-LOOP
SIMULATION
if appropriate models of the mechanical systems, actuators, and
sensors are available, the electronics could be the only hardware.
PHYSICAL SYSTEMS
INFORMATION
SYSTEMS
INFORMATION SYSTEMS
Modeling
Simulation
Automatic Control
Numerical methods for Optimization
INFORMATION SYSTEMS
Modeling Process of representing behavior of real system
(physical system) using mathematical equations and logic.
Physical system system whose behavior is based on matter
and energy
INFORMATION SYSTEMS
Modeling
INFORMATION SYSTEMS
Modeling
INFORMATION SYSTEMS
Modeling
MATRIXx
Easy5
Simulink
Agilent VEE
DASYLab
VisSim
LabVIEW
Fortran
Visual
Basic
C
Pascal
Text-based
programming
Visual-based
programming
Better for
Mechatronics
System Design
INFORMATION SYSTEMS
Modeling
Visual-based programming Block diagram languages that use
INFORMATION SYSTEMS
Simulation Process of solving the model set in the previous step
INFORMATION SYSTEMS
Simulation
Sort the equations for
each block according
to the pattern chose
INFORMATION SYSTEMS
Simulation
Solve differential equations by integration and/or differentiation
Most Methods of Solution Approximation of
polynomials which means truncated Taylor series
expansions versions of the diff. equation
INFORMATION SYSTEMS
Simulation
Approximation of polynomials using Taylor series
INFORMATION SYSTEMS
Optimization Optimization solves the problem of distributing limited
resources throughout a system so that prespecified aspects of its behavior
are satisfied
In
Mechatronics
System Design
Establish Optimal System
Configuration
Identification of optimal
trajectories
Control system design
Identification of model
parameters
INFORMATION SYSTEMS
Optimization
Terminology for Engineering Applications
Resources : Design variables
Aspects of system behavior : Objectives
Syst. governing equations and logic: Constraints.
INFORMATION SYSTEMS
Optimization
Example: A system consists of a piece of box-shaped luggage, where the
volume characteristics are to be maximized by appropriate selection of the
height, width, and depth resources
Solution
Formulation
INFORMATION SYSTEMS
Optimization
Solution (cont.)
Resources are unlimited; then volume becomes infinite
Example (modified): The total distance resource (width+height + depth)
of 80 cm
Formulation Solution
From geometry: cubic shapes have maximum volume total distance
resource must be distributed equally among the height, width, and depth
INFORMATION SYSTEMS
Optimization
Example (modified): box length to be less than 40 cm, the width to be
less than 30 cm, and the height to be less than 20 cm
Formulation Solution
INFORMATION SYSTEMS
Optimization
Basic Optimization Procedure
INFORMATION SYSTEMS
Optimization
Performance of the search algorithm depend on the
characteristics of the objective function :
(1) the overall smoothness of the function
(2) the magnitude similarity of the values of the objective
function gradient
(3) the overall numerical slope of the objective function
The objective function is the function that is minimized by the search
algorithm of the optimization procedure by appropriate choice of the
design variables
INFORMATION SYSTEMS
Optimization
K: is the iteration number
S
K
: is the search direction in space
: the stepsize moved in the search direction
process terminates when
the asterisk superscript means optimal
objective function has been extremized (usually minimized) and becomes
The optimization process iterates
INFORMATION SYSTEMS
Optimization
K: is the iteration number
S
K
: is the search direction in space
: the stepsize moved in the search direction
process terminates when
the asterisk superscript means optimal
objective function has been extremized (usually minimized) and becomes
The optimization process iterates
PHYSICAL SYSTEMS
INFORMATION
SYSTEMS
PHYSICAL SYSTEMS
MECHANICAL SYSTEMS
Behavior of matter under the action of forces
PHYSICAL SYSTEMS
MECHANICAL SYSTEMS
Most mechatronic applications involve rigid-body systems, and the study of
such systems relies on 6 fundamental laws.
PHYSICAL SYSTEMS
MECHANICAL SYSTEMS
Most mechatronic applications involve rigid-body systems, and the study of
such systems relies on 6 fundamental laws.

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Diseo de Sistemas Mecatronicos I

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