Mechatronics Systems.pdf
- 1. Lecture 1-Introduction to Mechatronic Systems 5505ICBTME Mechatronic Systems and Robotics Ms. Sanjana Dias
- 2. What is Mechatronics? Aerial Euler diagram from Rensselaer Polytechnic Institute's website describes the s fields that make up Mechatronics Mechanics Mecha Tronics Electronics Mechatronics
- 3. Contd….. Mechatronics is the synergistic integration of mechanics, electronics, controls and computer engineering towards the development of smart products and systems. • Mechatronic engineers develop automation solutions to improve quality of life, enhance product quality and replace manual labour.
- 4. What can be the mechatronic device? Tesla Motors First car invented by racer Walter Arnolnd
- 5. A Brief History Industrial Revolution – Mechanical (1760 - 1840) • Transformed from hand production methods to machines. • Improved efficiency of water power and increasing use of steam power. • Development of machine tools and the rise of the factory system. • Operations of motion transmission, sensing, actuation, and computation were performed using mechanical components such as cams, gears, levers, and linkages. Semiconductor Revolution – Electronic (1950 onwards) • Led to the creation of integrated circuit (IC) technology. • Effective, miniaturized, power electronics could amplify and deliver needed • amount of power to actuators. • On-board, discrete analog/digital ICs provided rudimentary computational and decision-making circuits for control of mechanical devices.
- 6. Contd… Information Revolution – Computer (1990 onwards) • Very large scale integration (VLSI) technology led to the introduction of microprocessor, microcomputer, and microcontroller. • Computing hardware is ever-present, cheap, and small. • Thus computing hardware can be effortlessly interfaced with real world electromechanical systems. • Development internet and telecommunications technology enabled sharing of information and data.
- 7. Evaluation Level of Mechatronics • Primary Level: Incorporates I/O devices such as sensors & actuators. Integrates electrical signals with mechanical action at the basic control levels. • Secondary Level: Integrates microelectronics into electrically controlled devices. • Third Level: Incorporates advanced feedback functions into control strategy (microelectronics, microprocess) to enhance quality to a smart system. Ex:- Control of Electrical motor used to activate industrial robots, hard disk, CD drives and automatic washing machines • Fourth Level: Incorporates intelligent control in mechatronics system. It introduces intelligence and fault detection and isolation (FDI) capability systems
- 8. Modules of a Mechatronic System 1. Sensing Sensors, Signal conditioning, Analog to digital and digital to analog conversion 2. Control Open loop and closed loop control 3. Action Drive circuits, Actuators, Motors
- 10. A Schematic of Mechatronic System
- 11. Components of a Mechatronic System
- 12. Components of a Mechatronic System • Actuators: produce motion or cause some action. Ex:- Solenoids, voice calls, DC motors, Stepper motor, servomotor, hydraulic, pneumatic. • Sensors: detect the state of the system parameters, inputs and outputs. Ex:- Switches, potentiometer, photo-elctrics, digital encoder, strain gauge, thermocouple, accelerometer etc. Input/output Signal conditioning and interfacing: provide connection between the control system circuits and the input/output devices. Ex:- Discrete circuits, amplifiers, filters, A/D, D/A, power transistor etc. • Digital devices: controls the system. Ex:- Logic circuits, micro controller, SBC, PLC etc • Graphic Display: provide visual feed back to users. Ex:- LEDs, Digital Displays, LCD, CRT
- 13. What is the relationship between Mechatronics & Automation? • Let’s consider a early water level regulator used in water tanks HOW DOES IT WORK???
- 14. What is the relationship between Mechatronics & Automation? • Uses a float connected to a valve via linkage • Desired water level in the tank is set by adjusting the float height or the linkage arm length connecting it to the valve. • The float opens and closes the valve in order to maintain the desired water level. • Has a purely mechanical function not real Automation system
- 15. What is the relationship between Mechatronics & Automation? i. An automated system has at its core a mechanical system which needs to be commanded or controlled by a controller ii. Then the controller needs information about the state of the system. Information is obtained from sensors. iii. In many scenarios, signals produced by the sensors are not in form of ready to be used by controllers and requires some signal conditioning operations performed on them. iv. The conditioned sensed signals then converted to a digital form by Analog to digital converter and re sent to the controller. v. Controller then processes commands and sensed signals to generate command signals to be sent to the actuators in the system. vi. Actuators convert electrical energy to mechanical energy
- 16. Contd… vii. The command signals are sent to the actuators without utilizing any feedback information from the sensors. This is called open loop system, and for it to work, this requires a good calibration between the input and output of the system. viii. More common mode od operation is the closed loop mode in which the command signals sent to the actuators utilize the feedback information from sensors. This mode of operations do not need calibration information.
- 17. Basic Mechatronic System & Automation • A process to be controlled • Sensors • Actuators • Controller
- 18. Basic Mechatronic System & Automation Example: Process Controlled by a human operator • The operator observes the behavior of the system using visual observation then make decision regarding what action to take, then using his muscular power takes a particular control action. • The outcome of the decision making process is the control or decision signal, and the action of the muscles is the actuator signal which is the amplified version of the control signal • Same functionalities of a control system can be automated by use of a digital computer • The sensors replace the eyes, the actuators replace the muscles and the computer replaces the human brain. • Every mechatronic system has some sensors to measure the status of the process variables • The sensors r the eyes of a computer controlled system • Actuators are the muscles of a computer controlled system
- 21. Embedded System? • Microcontrollers Small computer (SoC) on a single integrated circuit containing a processor core, memory and other programmable input/output peripherals. Eg: Arduino, PIC, ARM • Single board computer Complete computer built on a single circuit board, with microprocessor(s), memory, input/output (I/O) and other features required of a functional computer. Eg: Raspberry Pi, Beaglebone • Field programmable gate array Integrated circuit designed to be configured by a customer or a designer after manufacturing. The FPGA configuration is generally specified using a hardware description language (HDL), similar to that used for an application-specific integrated circuit (ASIC). Eg: Altera, Xilinx
- 22. Examples of Mechatronic Systems • Industrial Robots • Automotive Cameras • Mobile Robots • Adaptive Cruise control • Traction control system • Electronic Fuel injection • Antilock brake system • Scanner machines • Hard Drives
- 24. Advantages of Mechatronic Systems • Enhanced features and functionality • More user friendly Precision control • Precision control • More efficient • Lower cost • Flexible design • More reliable • Smaller size • safer