Mechatronics Systems

Design
Instructor: Radu Muresan
email: rmuresan@uoguelph.ca
Web:
http://www.soe.uoguelph.ca/webfiles/rmuresan/
Text Book: W. Bolton, Mechatronics 3/E, 2003
NOTE: The instructor reserve the right to change
terms, conditions and course requirements in the
event of appropriate circumstances, subject to the
University of Guelph Academic Regulations.
Mechatronics Systems Design;

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Teaching Team
Instructor: Radu Muresan, PhD

Email: rmuresan@uoguelph.ca
Web: http://www.soe.uoguelph.ca/webfiles/rmuresan/
Lectures: Tu & Th: 10 am 11:20 am
Office hours: Tu & Th: 11:30am 1pm

Technician and Lab Coordinator:

Benjamin Beacock; Email: bbeacock@uoguelph.ca

TAs

Tarry Cole:

email: ctarry@uoguelph.ca
Office hours: TBA

Antony W. Savich:

Email: asavich@uoguelph.ca
Office hours: TBA

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Mechatronics Systems Design;

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Marking Scheme
Labs: 40%; (lab sections )

Lab 1, 2, 3, 4 = 6%;
Lab 5 = 16%

demo =10%; report = 6%

Midterm: 20%
Final Exam: 40%
Final Course Mark Calculation:

Labs 40% + the best of {(Midterm 20% + Final

Exam 40%); (Midterm 10% + Final Exam 50%)}

NOTE: In order to pass the course you must:

Perform all the labs (get passing marks),

Write both exams (midterm and final), and
Get a cumulative mark greater than 20% in the
exams (??)

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Exam Dates
Midterm:
March

6, 2006 (Monday)
Time: 6:00 7:30
Room: Thorn 1307

Final Exam:
April

17, 2006
Time: 8:30 am 10:30 am
Room: xxxx

Questions???
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Course Outline (Tentative)

TEXT BOOK: Mechatronics 3rd Edition by W.
Bolton, Prentice Hall 2003.
Part 1: Mechatronics, Introduction (Ch 1)
Part 2: Measurement Systems for Mechatronics
Sensors and Transducers (Ch 2)
Signal Conditioning (Ch 3)
Data Presentation Systems (Ch 4)

Part 3: Actuation Systems for Mechatronics

Electrical Actuation Systems (Ch 7)
Pneumatic & Hydraulic Actuation Systems (Ch 5)
Mechanical Actuation Systems (Ch 6)

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Cont
Part 4 (?): Modeling for Mechatronic Systems
System Models (Ch 8 + Ch 9)
Dynamic Response of Systems (Ch 10)
System Transfer Functions (Ch 11)
Frequency Response (Ch 12)

Part
Part
Part
Part

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5:
6:
7:
8:

Closed Loop Controllers (Ch 13)

Programmable Logic Controllers (Ch 19)
Fault Finding (Ch 21)
Mechatronics Systems Design (Ch 22)

Mechatronics Systems Design;

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Part 1: Mechatronics, Introduction

What is mechatronics?
Systems
Measurement systems
Control systems
Microprocessor-based controllers
Response of systems
The mechtronics approach
Problems

Mechatronics Systems Design;

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What is Mechatronics?
Modern auto-focus, auto-exposure camera

Automatic adjustments: focus; aperture and

shutter speed for correct exposure

Truck smart suspension

Automatic adjustments: uneven loading,

cornering, moving across rough ground
Q1: What is the goal of these adjustments?

Automatic production line

Production processes carried in correct sequence

Q2: What is the main charac. of these systems?

Combination of electronic control systems and

mechanical engineering

Q3: What type of components would we need to

build these type of systems?
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Cont
Such control systems use
Microprocessors

as
Electrical sensors for
Electrical actuators to activate the outputs
to the mechanical system

Mechatronics is a term used for this

integration of microprocessor control
systems, electrical systems and
mechanical systems
In

the design of cars, robots, machine

tools, washing machines, cameras
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Systems

Prepared by Radu Muresan

Example of Systems

Mechatronics involves

Systems, measurement,
control, microprocessor,
and analytical systems

A system can be thought

of as a box which has an
input and an output
Not concerned with
what happens inside the
box
Interested only in the
relationship between the
output and the input

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Measurement Systems

Made up of three elements

Sensor responds to the quantity being
measured by giving as its output a signal related
to the quantity; Ex ?
Signal conditioner manipulates the output of
the sensor into a condition suitable for display or
use to exercise control
Display output is displayed

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Control Systems
Feedback control systems are
widespread in nature, at home,
in industry

Reference signal
Signals are fed back from the
output
Error measurement
Appropriate response signal

Example of feedback systems

(a) human body temperature
control

Q1 ?

(b) room temp control

Q2 ?

(c) control for hand positioning

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Q3 ?

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Open-Loop Systems

There are two basic forms of control systems:

Open-loop; closed-loop

In open-loop systems, there is no feedback reaction =>

the system cannot adapt to the environment
Advantage: simple, low cost and more reliable systems
Example: heating a room

Selection switch (manual): 1kW or 2kW

Q: How can we transform this system in a closed-loop

system?
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Closed-Loop System

This system has a feedback

The input of the system is adjusted according to whether

its output is at the required value

Advantage: accurate in matching the actual to the

required values; but are more complex
Example: heating a room

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measuring device (thermometer)

Switch on or off (automatically) the heating elements
based on the output of the measuring device
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Basic Elements of Closed-Loop

Systems

Comparison element
Error signal = reference value signal measured
value signal
Feedback

Negative
Negative feedback is required to control a system
Positive
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Cont
Control element decides through a
control plan what action to take when it
receives an error signal
Examples

of control plans

switch on or off an electric switch;

proportionally open or close a valve; etc.

Types of control plans

Hard-wired systems
Programmable systems

Q: What is the advantage/disadvantage

of the above control plans?
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Cont
Correction element produces a change in the
process to correct or change the control
condition

Actuator: element of correction unit that

provides the power to carry out the control
action

Process element: the process that is being

controlled
Measurement element: produces a signal
related to the variable condition of the process
that is being controlled

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Ex: switch ; themocouple ;

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Identification Example 1

Controlled variable?
Reference value?
Comparison element?
Error signal?
Control unit?
Correction unit?
Process?
Measuring device?
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Closed-Loop Control Example 2; Pure

Mechanical System
Controlled variable?
Reference variable?
Comparison element?
Error signal?
Control unit?
Correction unit?

The automatic control

of water level

Process?
Measuring device?
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Automatic Control System for the

Speed Rotation of a Shaft Example 3

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10

Sequential Controllers
Control is such that actions are strictly ordered in a time or
event driven sequence

Electrical circuit with sets of relays

Cam-operated switches which are wired up in such a way

The
operating
sequence is
called a
program
Example:
Domestic
Washing
machine
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Cam-Operated Switches; Mechanical

Switches
Machine switch on =>
A small electric motor slowly
rotates its shaft (proportional
with time) -> electrical switches
are operated mechanically in a
correct sequence by cams
installed on the shaft
Note: More cams can be
positioned on the shaft if needed

The contours of the cams are the

means by which the program is
specified and stored in the
machine
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11

Modern Washing Machines

The controller is a microprocessor and the program is a
software program
Pre-wash cycle
Electrically operated valve is turned on/off
Level sensor

The main wash cycle

An output is generated after the pre-wash cycle
Valve is open to allow cold water
Level sensor

Electric heater activated to bring the water to the

programmed temperature
Temperature sensor

The drum motor is turned on for a period of time

The discharge pump is turned on
The rinse operations is performed
The spinning operations is performed

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Microprocessor Based Controllers

Advantages

Variety of programs
become feasible

Types of implementations
Embedded
microcontroller
Programmable logic
controller (PLC)

Microprocessor based
Stores programs; can be

reprogrammed

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The Automatic Camera; Example

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Cont
When the camera switch is on and the camera
is pointed at the object being photographed the
following operations are performed by the
microprocessor:

Focus control
reads the rage sensor
sends an output to the lens position to set the focusing

Exposure control
Reads the light sensor
Determines the time which the shutter will be open

Film control
Gives an output to the motor drive to advance the film

to the next position after the photograph has been

taken

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The Engine Management System

The engine management system of a car is

responsible for managing the ignition and fuelling
requirements of the engine

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Elements of the Engine Management

System
The power and speed are
controlled by varying the
ignition timing and the
air-fuel mixture
Controlled parameters

Ignition timing
Inputs: engine speed,

crankshaft position, spark

timing feedback

Air-fuel mixture
Inputs: engine

temperature, throttle pos

Fuel injected
Inputs: mass air flow

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Response of Systems
The response of any system to
an input is a function of time
Example
Kettle system
Camera lens control signal
Bathroom scale system

System behavioral analysis

Need models that relate the

outputs to the inputs and time

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The Mechatronics Approach

A microprocessor may be considered as being a
collection of logic gates and memory elements
whose logical functions are implemented by
means of software
The microprocessor-controlled washing
machine can be considered as an example of a
mechatronics approach

A mechanical system has become integrated

with electronic controls

A bulky mechanical system (cam operated

switches) is replaced by a compact
microprocessor system that is adjustable
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Problem Example
Problem 4: The automatic control system for
the temperature of a bath of liquid consists of a
reference voltage fed into a differential
amplifier. This is connected to a relay which
then switches on or off the electrical power to a
heater in the liquid. Negative feedback is
provided by a measurement system which
feeds a voltage into the differential amplifier.
Sketch a block diagram of the system and
explain how the error signal is produced
Solution:

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Assignments
Chapter 1, problems 1 to 9.

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