Intro Mech1 Survey

8/12/2019 Intro Mech1 Survey

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Óbudabuda Universityniversity

BánkiBánki DonátDonát Faculty of Mechanical & Safety EngineeringFaculty of Mechanical & Safety Engineering

Institute of Mechatronics &

Vehicle Engineering

Subject:

Introduction to the Mechatronics

Subject leader: István Nagy

Contact: nag y . i s t v a n@bgk . u n i -o b u da . h u

PPT-s: h t t p : / / s i v a . b a n k i . h u /j e g y z e t e k /me ha t r o n i k a i _ a l a p i sme r e t e k /….

Subject Requirements:

•Lectures/week: 3+0+0

•Credits: 3

•Requirement: Seme s t e r e v a l u a t i o n , based on semester

examination’s papers. It is planned two

examination’s papers during the semester.The final evaluation will be calculated based

on the a v e r a g e of these two results.

Subject Description:Description:

The subject will give a short introduction to the mechatronics. Will point to the basicand the detailed division of the mechatronical systems, like: input-output elements(sensors & actuators), some basic control techniques, computers and logical systems,SW-s and data acquisitions, signal processing , and will give a short introduction to theeach separated part of the system. The subject is serving like the basis for the subjects:

Analog & Digital techniques, Control Engineering, Analog and Digital signalprocessing, Electronics, Logical System Design, Mechanics…etc.

Literature:

Sergey E. Lyshevski:

1.Control System Theory with Engineering Application (CRC Press)

2.Electromechanical Systems, Electric Machines and Applied Mechatronics(www.crcpress.com/us/product.asp?sku=2275&dept%5Fid=1)

3.Nano- and Micro-electromechanical Systems(www.crcpress.com/s/product.asp?sku=0916&dept%5Fid=1)

Robert H. Bishop, Ed-in-Chief

1.The Mechatronics Handbook (CRC Press, 2002)

Subject Topics:

Part 1 : General System Description

The aim of this subject is giving the students a basic information about themechatronic systems to taste the flavor of the mechatronical design. The severalparts of the subject later will appear as independent subject.

Part 2 : Physical System ModelingPart 3 : Sensors & Actuators

Part 4 : Systems & Controls

Part 5 : Computers & Logic Systems

Part 6 : Software & Data Acquisition

Part 7 : Introduction to the Micro- & Nanomechatronic

Part 8 : Introduction to the Biomechatronic



Part 1

General System Description - Survey:

Division of Functions between Mechanics

and Electronics

Improvement of OperatingProperties

Addition of New Functions

General Scheme of a Classical Mechanical-Electronic system

Properties of Conventional & Mechatronic Design

Systems:

Ways of Integration:

Integration of Components (Hardware)

Integration of Information Processing(Software)

Imbedding the sensors, actuators,microprocessors into the mechanicalprocess

Based on advanced control functions:feed-forward, feedback controls,advanced control systems (fuzzy, soft

computing), online informationprocessing.

What is the Mechatronics?:

Based on „Yasakawa Electronic Company”, the Mechatronics is

defined by this definition:

„T h e w o r d m e c h a t r o n i c s i s c o m p o s e d o f – MECHA-, f r om mechanism

a n d t h e -TRONICS-, f r om e l e c t r o n i c s ” .

In other words, technologies and developed products will be

incorporating electronics more and more into mechanisms.

1996, Harashima, Fuada, Tomizuka:

„Mec ha t r o n i c s i s t h e s y n e r g i s t i c i n t e g r a t i o n o f mechanical

engineering w i t h electronics a n d intelligent computer control”

1 9 9 7 , S h et t y , K o l k :

„Mec h a t r o n i c s i s a m e t h o d o l o g y u s e d f o r t h e o p t im a l d e s i g n o f

e l e c t r om e c h a n i c a l p r o d u c t s ”.

W . Bo l t o n :

„Me ch a t r o n i c s , no t j u s t a m a r r i a g e o f electrical a n d mechanical

s y s t em s a n d i s mo r e t h a n j u s t a c o n t r o l s y s t em , i t i s a complete

integration of all of them”.



Historical evolution: Historical evolution – summing up:

1 1 MechatronicsMechanicsElectronics At the beginning

Before Y2K After Y2K

The Key Elements of Mechatronics

Based on these historical definitions, the key

elements of mechatronics can be following:

•Ph y s ic a l S y s t em Mod e l i n g

•S e n so r s a n d A c t u a t o r s

•S ig n a l s a n d S y s t em s

•Comp u t e r s a n d L o g i c S ys t em s

•S o ft w a r e a n d D a t a A c q u i s i t io n

Detailed Key Elements:

System modelling

Signals & Systems

Computers

& Logic Systems

Software &

Data Acquisition

Sensors &

Actuators

MECHATRONICS



Definition after Y2K:

The MECHARONICS:Is a synergetic integration ofphysical systems withinformation technology and

complex-decision making inthe design, manufacturing andoperation of industrial productsand processes)

Based on: Masayoshi Tomizuka (University of California, Berkeley)

Mechatronic Systems:And Fundamental Theories:

Mechatronic Systems

ConventionalMechatronic

Systems

Micro-mechatronic

Systems (MEMS)

Nano-mechatronic

Systems (NEMS)Bio-mechatronic

Systems (BEMS)

Fundamental Theories:

Classical mechanicsElectromagnetism

Electronics

Fundamental Theories:Quantum Theory

Nano-electromechanics

Fundamental Theories:Anatomy

Micro- or/and Nano-electromechanics

Conventional Mechatronic Systems – Survey

In Vehicle Engineering

~1960s – Mechanical actuators, bumpers, switches (no mechatronic system

introduced)

~1970s – E le c t r o n i c i g n i t io n s y s t em (1st mechatronic system at the vehicles) –

Consist of a crankshaft position sensor, camshaft position

sensor, airflow rate, throttle position, rate of throttle position

change sensor, and at the end a dedicated microcontrollerdetermining the timing of the spark plug firings.

~1978s – ABS (Antilock Brake System) – sensing lockup of any of the wheels

and then modulating the hydraulic pressure as needed to minimize

or eliminate sliding.

~1995s – TCS (Traction Control System) – sensing slippage during

acceleration and then modulating the power to the slipping wheel.

2000< - New applications of mechatronic systems in the automotive world

include semi-autonomous to fully autonomous automobiles, safetyenhancements, emission reduction, intelligent cruise control (GPS

navigation systems), …etc. Millimeter wave radar technology has

recently found applications, too.

Conventional Mechatronic Systems-1a:Using a millimeter wave radar system to distance and velocity measuring and to

autonomously keeping the desired distance between vehicles.



Conventional Mechatronic Systems-1b:

Autonomous vehicle system design with sensors and actuators.

P r o p o s e d d i a g r am i n v o l v e s d i f fe r e n t i a l g l o b a l p o s i t i o n i n g s y s t em ( DG PS ), r e a l -t i m e i m a g e

p r o c e s s i n g a n d d y n am i c p a t h p l a n n i n g .

Conventional Mechatronic Systems-2:Airplane Flight Control System – Basic control units of the airplane

Conventional Mechatronic Systems-2:

C l o s e d - l o o p functional diagram o f e l e c t r om e c h a n i c a l s y s t em s w i t h i n a f li g h t c o n t r o l

s y s te m : Fl ig h t a c t u a t or s a re d is p l ac e d o n c o n t r o l s u r fa c e s , a n d a c t u a t or s ar e

c o n t r o l l e d b y d i g i t a l c o n t r o l l e r s . Co n t r o l o f a i r c r a f t i s a c c om p l i s h e d b y t h e f l i g h t

m a n a g em e n t s y s t em .

Airplane Flight Control System – An example about: How the Control Engineering is involved into

mechatronics

Mechatronic Systems Interfacing & Control Systems

An overview of the Interface and the Control Systems of a Mechatronic System

Interfacing:

•Input signals

•Output signals

•Actuator output

•Signal conditioning

•Sampling rate

•Filtering

•Data acquisition boards (DAQ)

Control Systems:

•Microprocessor Control

•PID Control

•PLC Controllers

•Microprocessors

•µprocessor numerical control

•Fixed-point mathematics

•Calibrations

•µprocessor input-output control

•Polling & Interrupts

•I/O transmission•µcontroller network systems



Mechatronic Systems Interfacing

Interfacing is connection of the mechatronic system with the environment. We can distinguish system input

interface and system output interface.

Usually the input interface changing some physical quantities to the electrical one, while the output interfaceconvert the electrical signals to some physical one.

This section can be enumerated into the Part 4: Systems & Controls (because of: Signals & Systems can be found),

and Part 6: Software & Data Acquisition (because of: Sampling & Rating can be found)

Mechatronic Systems Interfacing – Signal Classification

Signals are broadly classified as either continuous-time (CT) or discrete-time (DT) signals,

and each of these may in turn be categorized as deterministic or random (Stochastic)

signals. A deterministic signal can always be expressed mathematically, whereas the time of

occurrence or value of a random signal cannot be predicted with certainty. A CT signal x(t), has

a specified value for every value of time „t” while a DT signal, x(n), has specified a value only at

discrete points, that is, for integer values of n. Closely related to CT and DT signals are

analog and digital signals, respectively.

Sampling

Rating,

Quantization

Mechatronic Systems Interfacing Input Signals

Words TRANSDUCERS/SENSORS are often used synonymously. These are devices that convert energyfrom one form (physical) to another (electrical) one.

The output of a sensor is usually an analogue signal, but some „ intelligent” sensors contains A/D converter

on-board of sensor and produce a square wave output in form of digital signals, and what is more, some

„more intelligent” sensors contains TCP/IP interface on-board.

Mechatronic Systems Interfacing Input Signals

How the signals can distribute some information:

The answer is the signal modulation. Some well known signal modulation: frequency modulation, amplitude

modulation, PWM. …etc.





Mechatronic Systems Control Systems

Hardware Control:

•Microprocessor Control

•PID Control

•PLC Controllers

•µProcessors

•µP Numerical & I/O Control

•Digital Logics (PAL,PLA, GAL, FPGA,

CPLD)

•Signal conditioning

•Sampling rate

•Filtering

•Data acquisition boards (DAQ)

Software Control:

•System, Software Engineering

•Software design

•Testing

•Data verification & validation

•Debuggers

•Logic Analyzer

This section can be found in the Part 4: Systems & Controls (because of: Hardware & Software Control elements are

enumerated here)

Characterization of the Control Systems

Input part

Output part

Documents

Intro Mech1 Survey