MECHATRONICS

UNIT I

INTRODUCTION

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 MECHATRONICS
Integration of microprocessor control systems,
electrical systems and mechanical systems.

It brings together the areas of technology

involving sensors & measurement systems, drive
& actuation systems, analysis of the behaviour
of the systems.

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Mechatronics involves systems , measurement
system and control system.

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 OPEN LOOP CONTROL SYSTEM

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 CLOSED LOOP CONTROL SYSTEM

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 Closed loop control

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 Shaft speed control

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 Actuation systems
• Elements of control systems which are
responsible for transforming the output of a
microprocessor or control system into a
controlling action on a machine or device.

• Types:
• Hydraulic actuators
• Pneumatic actuators
• Mechanical actuators
• Electrical actuators
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 Hydraulic Actuator

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 Accumulator
10

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 Pneumatic Actuator

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 Directional control valve

• Used to direct the flow of fluid

through the hydraulic / pneumatic
system.

• It cannot vary the rate of flow

of fluid.

• But they are completely open or

completely closed.

eg. Spool valve

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 Directional control valve

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 Pressure Limiting valve

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 Pressure Regulating valve

Pressure Sequence valve

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 Mechanical Actuator
• To transform linear motion into rotational motion.

• Motion in one direction into a rotation in other direction

at right angle.

• Linkages
• Cams
• Gears
• Rack and pinion
• Chain drive
• Belt drives
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 Kinematic Chains

• Each part of a mechanism which has

motion relative to some other part is

termed a LINK.

• Joint is a connection between two or more links

at their nodes.

Eg. Lever, crank, connecting rod etc.

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 BEARINGS

• Bearing is used to guide

with minimum friction
and maximum accuracy.

Plain Journal Bearing

Used to support rotating
shafts which are located in
a radial direction.

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 Elements of ball bearing

Inner race & outer race .

The rolling element of either balls or rollers

A cage to keep the rolling element apart.

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 Types of Ball Bearings

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 Types of Ball Bearings

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 Types of Ball Bearings

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 Hydrodynamic journal bearing

• It consists of the shaft rotating

continuously.
Oil
• In oil in such a way that it rides on oil
and is not supported y metal.

• Load is carried by the pressure generated

in the oil as a result of the rotating.

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 Transfer Function
Laplace transform of output
Transfer Function = Laplace transform of input

Laplace transform Transform differential Eqn.

into an Algebraic Eqn.

Block diagram
Y (s) X (s) X (s)
G(s)
G(s) = Y (s)

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 Control Modes

• A control unit can react to an error signal and

supply an output for correcting elements:

• Two-step mode : on/off signal

• Proportional mode (P)
• Derivative mode (D)
• Integral mode (I)
• Combinations of mode (PD), (PI), (PID)

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 1. Two-step mode : on/off signal
• Two –step mode :

Control action is discontinuous.

eg: If the room temperature is above the required

temp. then the switch is in off position and the

heater is off.

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 2. Proportional control (P)

• Size of the controller output is proportional to the

size of the error.

• i.e. correction element of the control system will

receive a signal which is proportional to the size of
the correction required.

• + E(s) X(s)
Kp G(s)
• -

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 3. Derivative control (D)
• The change in controller output from the set point value is
proportional to the rate of change with time of the error
signal.

• Iout – Io = Kp de
dt
Where Io -- set point output value
Iout – output value that will occur when the error ‘e’
changes with time.

Kp – constant of proportionality

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 4. Integral controller (I)

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 4. Integral mode (I)
.
• It consists of an operational amplifier

connected as an INTEGRATOR and followed

by another operational amplifier

connected to a SUMMER to add the integrator

output to that of the controller output.

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5. Proportional plus Integral control (PI)

Error gives rise to a proportional controller output

which remains constant since the error does not change.
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 6. Proportional plus Derivative control (PD)

Controller output can vary when there is a constantly

changing error.

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 7. PID controller (PID)

• Combining all three modes of control

[Proportional, Derivative & Integral]
enables a controller to be produced which
has no offset error.

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