What is Mechatronics?

Mechatronics is the synergistic combination of mechanical engineering, electronics, controls engineering, and computers, all integrated through the design process. It involves the application of complex decision making to the operation of physical systems. Mechatronic systems depend for their unique functionality on computer software.

Mechatronics

Mechatronics is the integration of computer Engineering, e

lectronics, control engineering and mechanical engineering.

The integration across the traditional boundaries of mecha

nical engineering, electronics and control engineering has to oc

cur at the earliest stages of the design process if cheaper, more

reliable, and more flexible systems are to be developed.

Mechatronics involves sensors and measurement systems,

drive and actuation systems, analysis of the behavior of system

s, control systems, and micro-processor systems.

Mechatronics

• The primary disciplines important in the design of mechatronic systems include mechanics, electronics, control and computer engineering.”

• A mechatronic system engineer must be able to design and select analog and digital circuits, microprocessor-based components, mechanical devices, sensors and actuators, and controls so that the final product achieves a desired goal.

Term coined in Japanin the late 60’s

• Consider a typical mechatronic system

AnalogFiltering

Analog toDigitalConversion

DigitalComputer

Digital toAnalogConversion

ActuatorsProcessSensors

ReferenceSignal

MeasuredSignal

+

-

• In this course we will mainly focus on the filled boxes

Analog Filtering – Needed for conditioning of input signalsA/D and D/A Conversion – For creating the interface between physical signals (voltages) and computer signals (zeros and ones) Actuators and Sensors – For changing the system and measuring its response Mathematical modeling – For design and control purposes

Modeling

Examples

• Brushless dc motor• Vending machines• ATM machines• Inkjet printers• Photocopiers• Air conditioning units• Internal combustion (IC) engine• Gear pump•Auto camera•Washing machines•Automobile•Mobile Phone

Large number of movies located at http://www.engr.colostate.edu/~dga/video_demos/mechatronics/index.html

1.2 Systems What is a System?

Group of Components that work together for a purpose Service Product Process

Attributes: discernable manifestations of the components

Relationships are links between Components & Attributes

Components Properties Properties & Behavior of each Component has an

influence on the properties & behavior of the set as a whole

Properties & Behaviors of each component of the set depends on the properties & behaviors of at least one other component

Each possible subset of the components has the two properties listed above: I.E. the components cannot be divided into independent subsets

A system can be thought of as a black box which has an input and an output.

A sensor-- responding to the quantity being measured by giving as

its output a signal which is related to the quantity.

A signal conditioner—taking the signal from the sensor and

converting it into a condition which is suitable for either display, or, in

the case of a control system, for use to exercise control.

A display system—displaying the output of signal conditioner.

1.3 Measurement systems

1.4 Control systems

1.4.1 Open- and closed-loop systems

Open-loop systems—simple, low cost and good reliability.

Closed-loop systems—accurate, more complex and high

cost.

1.4.2 Basic elements of a closed-loop system

1). Comparison element 2). Control element 3). Correction element (actuator) 4). Process element 5). Measurement element

1.4.3 Sequential controllers

Washing machine system

1.4.4 Microprocessor-based controllers (programmable logic controller)

Microprocessor-based controller which uses programmable memory to store instructions and to implement functions such as logic, sequence, timing counting and arithmetic to control events.

1.5Digital control and logic gates Analogue control is when the control is continuous with input signals from

sensors and output signals to the actuators being continuously variable.

Digital control is when the control is discontinuous.

1.5.1 Logic gates

Digital Circuits – NOT Gate Logic Diagram

Single input

Truth Table

Boolean expression:● Also referred to as an Also referred to as an

inverterinverter

A X

A X

0 1

1 0

AX =

Digital Circuits – AND Gate

A

B

X

A B X

0 0 0

0 1 0

1 0 0

1 1 1

Logic Diagram 2-input AND Gate

Boolean Expression:

Truth Table

X = AB

Digital Circuits – NAND Gate

A B X

0 0 1

0 1 1

1 0 1

1 1 0

A

B

X

Logic Diagram 2-input NAND Gate

Boolean Expression:

Truth Table

X = AB

Digital Circuits – NAND GateT0 T1 T2 T3 T4

A

B

X

0 0 1 1

0 01 1

11 1 0

A B X

0 0 1

0 1 1

1 0 1

1 1 0

Timing Diagram 2-input NAND Gate

Truth Table

A

C

XB

Digital Circuits – NAND Gate Logic Diagram

3-input NAND Gate

Boolean Expression:

A B C X

0 0 0 1

0 0 1 1

0 1 0 1

0 1 1 1

1 0 0 1

1 0 1 1

1 1 0 1

1 1 1 0

Truth Table

X = ABC

NAND Gate

Referred to as a universal gate – any of the basic logical operations can be performed with NAND gates.

Any digital system can be implemented with NAND gates alone.

NAND Gate Configuring a NAND gate as an Inverter

AA

A A

NAND Gate Configuring a NAND gate as an AND gate

ABC

ABC

X = ABC

ABCABC = ABC

NAND Gate Configuring a NAND gate as an OR

gate

A B X

0 0 0

0 1 1

1 0 1

1 1 1

Truth Table

A

BX

A

B

A

B

AB = A+B= A+B

DeMorgan’s Theorem:X+Y = XYXY = X+Y

1.6 The mechatronics approach

Mechatronics involves the bringing together of a number

of technologies: mechanical engineering, electronic engineeri

ng, electrical engineering, computer technology, and control e

ngineering.

Mechatronics can be considered to be the application of c

omputer-based digital control techniques, through electronic a

nd electric interfaces, to mechanical engineering problem.

Homework: page 15 problem 4,8

LEVELS OF EDUCATIONAL OBJECTIVES (Bloom, 1956)

Knowledge - recall, recognition Comprehension - understanding the literal message,

stating the message in one’s own words Application - carrying over understanding into a new area Analysis - breaking material down into its constituent parts

and detecting relationships of the parts Synthesis - putting together elements and parts to form a

whole, creating something new Evaluation - making judgments about the value of ideas,

works, solutions, etc.

Educational Objectives To understand, apply and synthesize mechatroni

cs systems To understand, apply and synthesize computer c

ontrolled systems To develop increased creativity, teamwork, and

presentation skills To develop a greater awareness and respect for

things beyond the traditional ME boundaries To develop engineering common sense - proble

m avoiding and solving skills