Universiti Kuala Lumpur Malaysia France Institute

MECHATRONICS SYSTEM DESIGN FAB30503

Lecture #1

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What is Mechatronics ? Mechatronics is ..

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The technical term, Mechatronics, was coined by Mr. Tetsuro Mori, in 1969 when he worked for Yaskawa Electric Corporation in Kitakyushu in order to propose the new technology to produce new machine tools by integrating machines and electronics.

What is Mechatronics ?

MECHA + TRONICS
mechanical electronics

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What is Mechatronics ?
Definitions of Mechatronics
Integration of microprocessor control system, electrical systems and mechanical system" (Bolton, Mechatronics) The synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes" (Journal of Mechatronics)

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What is Mechatronics ?
Definitions of Mechatronics
The interdisciplinary field of engineering dealing with the design of products whose function relies on the synergistic integration of mechanical and electronic components coordinated by a control architecture. (Alciatore, D.G. and Histand, M.B.) the synergistic use of precision engineering, control theory, computer science, and sensor and actuator technology to design improved products and processes (ME Magazine)

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What is Mechatronics ?

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What is Mechatronics ?
Information Systems Modeling and Simulation Automatic Control Artificial Intelligence Electromechanical Actuators Real-Time Interfacing D/A Electrical Systems Sensors A/D Computer Systems

Mechanical Systems

Mechatronics Systems

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What is Mechatronics ?
Low power
Computer A/D D/A System SC PA

Sensor

Physical System

Actuator

High power
SC: Signal Conditioning PA: Power amplification/modulation

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What is Mechatronics ?
Low power
A/D D/A

Computer
SC PA

Sensor

Physical System

Actuator

High power

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What is Mechatronics ?
Low power

PLC SC PA

Sensor

Physical System

Actuator

High power

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What is Mechatronics ?
Low power

Microcontroller SC PA

Sensor

High power

Physical System

Actuator

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Key Elements of Mechatronics

Bishop, ed, The Mechatronics Handbook

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Key Elements of Mechatronics

Information Systems
MECHATRONICS

Mechanical Systems Electrical Systems

Computer Systems

Devdas Setty, et.al., Mechatronics System Design

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Key Elements of Mechatronics

Information Systems Modeling and Simulation Automatic Control Artificial Intelligence Electromechanical Actuators Real-Time Interfacing D/A Electrical Systems Sensors A/D Computer Systems

Mechanical Systems

Mechatronics Systems

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Key Elements of Mechatronics

Information Systems An information system is combination of Signal processing Control Systems numerical method For Mechatronics system, information system concerns with modeling and simulation automatic control numerical method for optimization

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Key Elements of Mechatronics

Information Systems -ModelingModeling is the process of representing the behavior of real system (physical system) by collection of mathematical equation and/or logic.

input

Physical system model

output

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Key Elements of Mechatronics

Information Systems -SimulationSimulation is the process of solving the model and is performed on a computer.
We need a programming language to make simulation: Machine language: assembler Text-based language: C, Basic, Fortran Visual programming language: Simulink, LabVIEW, VisSim

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Key Elements of Mechatronics

Information Systems -Control-

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Key Elements of Mechatronics

Information Systems -Control Continuous control System The variables and parameters to be controlled are continuous. Topics of Advanced Control System course

Discrete Control System Variables and parameters are discrete, mostly binary

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Key Elements of Mechatronics

Information Systems -Control-

continuous control

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Key Elements of Mechatronics

Information Systems -ControlDesired output +Error Controller Plant input Plant Actual output

Sensor

Why do we need a continuous controller ?

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Key Elements of Mechatronics

Information Systems -ControlA controller is required to process the error signal to satisfy a certain criteria such as: Steady-state error Transient response Disturbance rejection Sensitivity to parameter change in the plant (robustness)

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Key Elements of Mechatronics

Information Systems -ControlDiscrete Control System:

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Key Elements of Mechatronics

Information Systems -ControlHow to control the sequential operation of the automatic drilling ?

drill work piece

Switch 2 Switch 3 Switch 1

Automatic drilling machine

The aim of the sequential control is to ensure that the sequence of event take place.

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Key Elements of Mechatronics

Information Systems -ControlDiscrete Control System

Sequential Control System

Key Elements of Mechatronics

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The control system for the automatic drilling machine is required to: start lowering the drill when the workpiece is in position start drilling when the drill reaches the workpiece stop drilling when the drill produces the required depth of the hole retract the drill and then switch off wait for next workpiece to be put in position before repeating the operation.

Information Systems -Control-

How if there are many holes in a workpiece ?

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Key Elements of Mechatronics

Mechanical Systems Mechanical systems are concerned with the behavior of matter under the action of forces which cause motions.

Fluid and thermal systems are also included in the mechanical systems.

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Key Elements of Mechatronics

Mechanical Systems

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Key Elements of Mechatronics

Mechanical Systems

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Key Elements of Mechatronics

Electrical Systems Electrical systems are concerned with the behavior of three fundamental quantities: charge, current and voltage.

Electrical systems consist of : Power system Electronics

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Key Elements of Mechatronics

Electrical Systems -PowerPower systems are designed to transmit large quantity of electrical energy. Power systems devices Rotating machine (motor) convert energy from electrical to mechanical Generator convert energy from mechanical to electrical

Key Elements of Mechatronics

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Electrical Systems -ElectronicsElectronics are designed to transmit Small quantity of electrical energy. Electronics devices Resistor Capacitor Transistor, diode Op-amp

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Key Elements of Mechatronics

Electrical Systems -Common Electrical DevicesCommon electrical components of mechatronics systems: motor and generator sensor and actuator solid state devices, including computers circuits (signal conditioning, impedance matching, including amplifier) Contact devices (relay, fuses, switch)

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Key Elements of Mechatronics

Computer Systems Computer systems is the study of how such circuits should be connected together to think efficiently.

The computer systems consists of hardware software.

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Key Elements of Mechatronics

Computer Systems
For mechatronics application, computer system hardware is restricted to computer-specific circuits and devices including Digital logics: flip-flops, counters, timers, triggers microprocessor microcontroller personal computer (PC) programmable logic controller (PLC)

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Example of Mechatronics Systems

Intelligent Vacuum Cleaner

Roomba Intelligent FloorVac

Euroka Robo Vac

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Example of Mechatronics Systems

Copy machine Printer Hard disk Disks Drive etc