CE5004

Module
Title

Mechatronics

Module
Code
Credits
4.0
Total Hours Lectures
55hrs
PreRequisites
GPA/NGPA GPA
Lab/Assignt 20 hrs
Aim: The overall objective of this course module is to form foundation knowledge in
Mechatronics among Mechanical Engineering students who will understand how
electro-mechanical systems work and to design and develop Mechatronics products. Most
modern mechanical engineering systems are Mechatronic systems, and Mechatronics is
the discipline that results from the synergetic application of electrical, electronic,
computer, and control engineering in mechanical engineering systems. Therefore, it is
essential for the mechanical engineer to have an understanding of the composition and
design of Mechatronic systems, which is the aim of this course.
Learning Outcomes:
Upon successful completion of this course module, the student will be able to:

Define the discipline of Mechatronics, and Identify examples of Mechatronic

systems that are encountered in real life and components of a typical Mechatronic
system.
Analyze and solve problems in simple electrical and electronic circuits.

Discuss the importance of feedback in controlling physical systems with the use of
examples.

Identify and describe the different types of actuators used and different types of
speed- and position-feedback devices in Mechatronic systems.

Explain the principle of operation of the four types of motors: ac induction motor,
the dc motor, the servomotor, and the stepper motor.

Size the motor for an application and select the suitable type of motor for an
application.

Identify the signal processing that has to be applied to signals in Mechatronic

systems.

Identify and describe the types of controllers used and select the suitable type of
controller for an application in Mechatronic systems.

Explain and follow the steps in designing a Mechatronic system, and design a
Mechatronic system.

Syllabus:
Introduction to and appreciation of Mechatronics [02 hours]
Appreciate what mechatronics is about.
Comprehend the various forms and elements of control systems: open-loop, closed-loop
and sequential. Recognise the need for models of systems in order to predict their
behavior.
Sensors and transducers [02 hours]
Describe the performance of commonly used sensors.
Evaluate sensors used in the measurement of: displacement, position and proximity;
velocity and motion; force; fluid pressure; liquid flow; liquid level; temperature; light.
Explain the problem of bouncing when mechanical switches are used for inputting data.
Signal Conditioning- [04 hours]
Explain the requirements for signal conditioning.
Explain how operational amplifiers can be used, the requirements for protection and
filtering, the principle of the Wheatstone bridge and, in particular, how it is used with
strain gauges, the principles and main methods of analogue-to digital and digital-toanalogue converters, multiplexers and data acquisition using DAQ boards.
Explain the principle of digital signal processing.
Explain the principle of pulse-modulation.
Data Presentation systems- [03 hours]
Explain the problem of loading.
Describe the basic principles of use of commonly used data presentation elements:
meters, analogue chart recorders, oscilloscopes, visual display units, printers.
Explain the principles of magnetic recording on floppy and hard discs.
Explain the principles of displays and, in particular, the use of LED seven-segment and
dot matrix displays and the use of driver circuits.
Explain how data presentation can occur with the use of DAQ boards.
Design measurement systems.
Pneumatic and hydraulic, Mechanical and Electric c actuation systems [06
hours]
Interpret system drawings, and design simple systems, for sequential control systems
involving valves and cylinders. Explain the principle of process control valves, their
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characteristics and sizing.

Evaluate mechanical systems involving linkages, cams, gears, ratchet and pawl, belt and
chain drives, and bearings.
Evaluate the operational characteristics of electrical actuation systems: relays, solid-state
switches (thyristors, bipolar transistors and MOSFETs, solenoid actuated systems, d.c.
motors, a.c. motors and steppers).
System models [03 hours]
Devise models from basic building blocks for mechanical, electrical, fluid and thermal
systems. Devise models for rotational-translational, electro-mechanical and hydraulicmechanical systems.
Dynamic responses of systems and transfer functions [02 hours]
Model dynamic systems by means of differential equations. Determine the response of
first and second order systems to simple inputs.
Define the transfer function and determine the responses of systems to simple inputs by
its means, using Laplace transforms.
Identify the effect of pole location on transient response.
Use MATLAB and SIMULINK to model systems.
Frequency response [02 hours]
Analyse the frequency response of systems subject to sinusoidal inputs.
Plot and interpret Bode plots using such plots for system identification.
Closed-loop controllers [02 hours]
Predict the behavior of systems with proportional, intergral, derivative, proportional plus
integral, proportional plus derivative and PID control.
Explain how such modes of control can be realized with operational amplifiers and digital
controllers and controller settings determined.
Explain what is meant by velocity feedback and adaptive control.
Digital logic [04 hours]
Use the binary, octal, hexadecimal and binary coded decimal number systems; explain
how numbers can be signed and the twos complement method of handling negative
numbers.
Explain the advantages of the Gray code.
Describe parity methods of error detection.
Recognise the symbols and Boolean representation of, write truth tables for and use in
applications, the logic gates of AND, OR, NOT, NAND, NOR and XOR.
Use Boolean algebra to simplify Boolean expressions and present them in the form of
sums of products or product of sums.
Use Karnaugh maps do determine the Boolean expressions to represent truth tables.
Explain the operation of decoders.
Explain how SR, JK and D flip-flops can be used in control systems.
Microprocessors and programming languages - [06 hours]
Describe the basic structure of a microprocessor system.
Describe the architecture of common microprocessors and how they can be incorporated
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in microprocessors systems.
Describe the basic structure of microcontrollers and the architecture of commonly
encountered microcontrollers and how their registers are used to carry out tasks.
Explain how programs can be developed using flow charts or pseudocode.
Assembly language and C language to write programs
Input/output systems [02 hours]
Identify interface requirements and how they can be realized; in particular buffers,
handshaking, polling and serial interfacing.
Explain how interrupts are used with microcontrollers.
Explain the function of peripheral interface adapters and program them for particular
situations.
Explain the function of asynchronous communications interface adapters.
Programmable logic controllers [04 hours]
Describe the basic structure of PLCs.
Program a PLC, recognizing how the logic functions, latching and sequencing can be
realized.
Develop programs involving timers, internal relays, counters, shift registers, master
relays, jumps and data handling.
Communication systems [04 hours]
Describe centralized, hierarchical and distributed control systems, network configurations
and methods of transmitting data, describing protocols used in the transmission of data.
Describe the Open Systems Interconnection Communication model.
Describe commonly used communication interfaces : RS-232, Centronics, IEEE-488,
personal computer buses, VXIbus, and I2C bus.
Fault finding [02 hours]
Recognise the techniques used to identify faults in microprocessor-based systems,
including both hardware and software.
Explain the use of emulation and simulation.
Explain how fault finding can be developed with PLC systems.
Mechatronics systems [04 hours]
Compare and contrast possible solutions to design problems when considered from the
traditional and the mechatronic points of view, recognizing the widespread use of
embedded systems.
Analyse case studies of mechatronics solutions.
Design mechatronics solutions to problems.
Assessment:
Laboratory exercises (compulsory), assignments, case studies, field visits, , etc. 20%
Mini Project in Product Design: An integrated design of a product with areas learnt
sufficiently covered , and with two students sharing the same title but individual reports
submitted A compulsory assignment 20%
Final examination: three hour question paper 60%
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Laboratory Exercises
Experiment 01: Linear circuits (Signal conditioning)
Objective
To learn about signal conditioning algorithms; amplification, adding/subtracting and
basic filtering.
Experiment 02: Digital electronics
Objective
To familiariase with mathematics used to design digital electronic circuits and
fundamental circuit elements of digital electronics. (Boolean algebra, K-map, LOGIC
GATES, 555 TIMER as a source of logic signals, and memory elements (RS, JK,T
and D flip flops)
Experiment 03: Stepper Motor Control
Objective
To learn about stepper motor basics and how to control a stepper motor using the digital
output of a microcontroller in full/half step modes drive in clockwise/counterclockwise
direction, while controlling the speed of rotation and displaying the current position.
Experiment 04: Pneumatic Control of a Double-acting Cylinder
Part A
Direct control of a double-acting cylinder with push-button.
Objective
Design and implement direct control of double-acting cylinders with manually operated
5/2 directional control valves. Observe the effect of adjustable spring cushioning in
double acting cylinders.
Part B
Speed regulation of a double-acting cylinder
Objective
Observe various types of speed regulation of the piston rod movements of double-acting
cylinders with one-way flow control valves.
Experiment 05: Programmable Logic Controller (PLC)
Part A
Introduction to Programmable Logic Controller
Objectives
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To familiar with following laboratory equipments

PLC
Power sources(AC/DC)
Input output module(analog and Digital)
Part B
Start and Stop DC motor
Objectives
Design and implement ladder logic control for a DC motor. (The system has one start and
one stop switch. Both of the switches are momentary contact switch. Start switch is
normally opened and stop switch is normally closed. Output relay controls the supply to
the motor. The motor has a stop and a run indicator lights.)
References:
1. Mechatronics Electrical Control Systems in Mechanical Engineering; by W.Bolton
2. Mechatronics An Integrated Approach by Clarence W. de Silva

IESL College of Engineering

Syllabus of Mechatronics Course Module