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Background -
Remzi Artar
Academic
Undergraduate
Mechanical
Enginering
/ ITU
Master of
Science
-
Control
Engineering
/ Rice
University
, Houston
-
USA
Ph.D
.
- Mechanical
Engineering / ITU
Industrial
Arelik
Research
& Development
Dept
. Ford Otosan
Product Development
Dept
.
National
Instruments
Applications
Engineering
Dept
.
Figes A..
Mechatronic
Team Manager
Research
Interests
Mechatronics
Systems
, Data
acquisition
, Motion Control
Systems
, ImageProcessing
Contact
:
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WHAT IS MECHATRONICS?
Original definition of Mechatronics (by the Yasakawa Electric
Company);
The word, Mechatronics, is composed of mecha from
mechanism and the tronics from electronics. In other words,technologies and developed products will be incorporating
electronics more and more into mechanisms, intimately and
organically, and making it impossible to tell where one ends
and the other begins
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WHAT IS MECHATRONICS?
Another definition;
The synergistic integration of mechanical engineering, with
electronics and intelligent computer control in the design and
manufacturing of industrial products and processes.
Finally, from the Internets free encyclopedia, Wikipedia,
Mechatronics is centered on mechanics, electronics and
computing which, combined, make possible the generation of
simpler, more economical, reliable and versatile systems.
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WHAT IS MECHATRONICS?
All these definitions agree
that mechatronics is an
interdisciplinary field, in
which the following
disciplines act together
Mechanical system s(mechanical elements,
machines, precision
mechanics)
Elect ronic systems(microelectronics, power electronics, sensor and actuator
technology) and
Informat ion techno logy(systems theory, automation, software engineering,
artificial intelligence)
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WHAT IS MECHATRONICS?
Mechatronics
Modeling Signals & Systems
Computers&
Logic SystemsSensors &Actuators
Software&
Data Acquisition
The Key Elements of Mechatronics
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WHAT IS MECHATRONICS?
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WHAT IS MECHATRONICS?
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WHAT IS MECHATRONICS?
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MECHATRONIC DESIGN APPROACH
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MECHATRONIC DESIGN APPROACH
The computer aided development of mechatronic system comprises:
Constructive specification using CAD and CAE tools
Model building
Transformation into computer codes for system simulation
Programming and implementation of the final mechatronic software
Modeling Procedure
theoretical modelingbased on physical principles
experimental modeling (identification) with measured input and
output variables.
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Theoretical Modeling
Based on fundamental physical laws that describes the behavior of the system
(Newtons principles for motion, Ohms law for electricity)
If you can use an ordinary differential equation to describe a physical
system, the resulting model is a lumped parameter model.
Experimental Modeling - System Identification
Direct estimation of the impulse or the frequency response of the system
No assumptions made about the system other than that it is linear
MECHATRONIC DESIGN APPROACH
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MECHATRONIC DESIGN APPROACH
mf(t)
y(t)
c
)()(2
2
tydt
dmtf
Mass
k
Spring Damper
f(t) f(t)
)()( tkytf )()( tydt
dctf
y(t)y(t)
Theoretical Modeling
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)()()()(2
2
tutkytydt
d
ctydt
d
m
kcsmssU
sYsG
2
1
)(
)()(
k c
m
y(t)
u(t)
Laplace transform (if the initial conditions are zero)
2
2
2
sdtds
dtd
Transfer Function
MECHATRONIC DESIGN APPROACH
Theoretical Modeling
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MECHATRONIC DESIGN APPROACH
The process of estimating a modelfor a dynamic system based onmeasured data
Known input
data Correspondingoutput data
System
2.405.1)(
2
ss
ssG
Impulse
Step
White noise
Experimental Modeling
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MECHATRONIC DESIGN APPROACH
Simulation Methods
Simulation without (hard) time limitation
Real-time simulation
Simulation faster than real-time
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MECHATRONIC DESIGN APPROACH
Classification of real-time simulation.
1. The real process can be operated together with the simulated control by using hardware
other than the final hardware. This is also called control prototyping.
2. The simulated process can be operated with the real control hardware, which is called
hardware-in- the-loop simulation.
3. The simulated process is run with the simulated control in real time. This may be required if
the final hardware is not available or if a design step before the hardware-in-the-loopsimulation is considered.
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Design and testing of the control hardware and software without operating a
real process (moving the process field into the laboratory)
Testing of the control hardware and software under extreme environmental
conditions in the laboratory (e.g., high/low temperature, high accelerations andmechanical shocks, aggressive media, electro-magnetic compatibility)
Testing of the effects of faults and failures of actuators, sensors, and
computers on the overall system
Operating and testing of extreme and dangerous operating conditions
Reproducible experiments, frequently repeatable
Easy operation with different manmachine interfaces (cockpit-design andtraining of operators)
Saving of cost and development time
MECHATRONIC DESIGN APPROACH
The advantages of the HIL simulation are generally:
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Control Prototyping - Hardware
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MATLAB/SIMULINK TI Code Composer Studio
Real-Time Workshop
Developed Controller codes in SIMULINK Optimization of the generated C codes
F28335 Floating-point DSP
D
ownloadingon
U
SBport
Interrupts for digital
data transfer
MEDEL AC IM Drives
MEDEL DAQ Platform
Interrupts for
bufffered DAQ
Control Prototyping - Software