Chap1.

Introduction to mechatronics

1- the origin of mechatronics. 2- the key elements of mechatronic systems. 3- examples of mechatronic systems in our everyday life. 4- important of mechatronics. 5- questions and problems.

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What is mechatronics? - the term mechatronics is used for the integration of electronics, control, mechanical engineering and computer science.

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What is mechatronics?
electronics

Control system

Mechatronics

Mechanical Eng.

Electrical eng.
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What is mechatronics?
- Mechatronics responds to industrys increasing demand for engineers who are able to work across the discipline boundaries of electronic, control, computer and mechanical engineering.

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Objective of mechatronics?
Identify and use the proper combination of technologies for optimum solutions to todays increasingly challenging engineering problems.

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- Ex. of mechatronics applications:

Design of cars Consumer product design Washing machines Cameras Instrumentation Robots Aircraft simulator Air conditioners under fuzzy logic control Devices and systems possessing a degree of computer-based intelligence. - Driver-less vehicles, .etc.
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- The genesis of mechatronics is the interdisciplinary area relating to mechanical eng., electrical, electronic eng., and computer science. - It seems that some people think that mechatronics is an aspect of science and technology which deals with a system that includes mechanisms, electronics, computers, sensors, etc.
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- Such a definition gives the impression that it is just a collection of existing aspects of science and technology. - This definition is no longer sufficient to explain mechatronics and its technology.

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- Mechatronics solves technological problems using interdisciplinary knowledge consisting of mechanical engineering, electronics and computer technology. - This motivated the traditional engineering to search for different knowledge areas and technologies to develop new products (ex. mechanical engineering tried to introduce electronics to solve mechanical problems)

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- Consequently, they could consider the solution to the problems with wider views and more efficient tools, this results in obtaining new products based on the integration of interdisciplinary technologies.

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- This definition supports the fact that mechatronics relates to: the design of systems, devices, manufacturing processes, and products aimed at achieving: an optimal balance between basic mechanical structure and its overall control.

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- Mechatronics gained legitimacy in academic circles with the publication of the first refereed journal: IEEE/ASME Transactions on Mechatronics www.sciencedirect.com

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The integration of mechanical, electronic, control engineering and information technology to: obtain the best solution to a given technological problem, which is the realization of a product.

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The main components of mechatronic system:

Electronics

Digital control

Mechatronic system Information technology

Sensors

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It is important to explore the rich and established information sources available on: Mechanics Electrical and electronic theory Instrumentation Control theory Information and computing theory Numerical techniques

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- Mechatronics involves, what are termed, systems. - A system can be thought of as a black box which has an input and an output. - It is a black box because we are not concerned with what goes on inside the box but only the relationship between the output and the input.
Input Output

System

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Elect. power Motor

rotation

Temp.

a Value on scale Thermometer

b Required Temp. Central heating Sys.

Temp. at the set value

a) Measurement system
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b) Control system

- Measurement system can, in general, be considered to made up of three elements:

sensor Quantity being measured Signal conditioner Display Value of Quantity

A measurement system and its constituent elements

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- Sensor: - Is a device which responds to the quantity being measured by giving as its output a signal which is related to the quantity. - Ex. - Thermocouple. - Burdon pressure gauge.

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- Signal conditioner: - Is a device which takes the signal from the sensor and converts it into a condition which is suitable for either display or use for control. - Ex. - amplifier. - gearing

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Ex: Audio Cassette Player Input from magnetic tap. Output of sound from loudspeaker The inputs to the system are patterns of magnetism The sensor converts it into electrical signals The signal conditioner transform them into bigger signals which are capable of operating loudspeakers.

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- This a system which try to control the variation of a variable. - Ex. The control of body temperature. - There are many industrial process and machines where control, whether by humans or automatically, is required. - Ex. - Temperature - Fluid flow - Liquid level - pressure

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Open-loop system

Closed-loop system

The difference between these types is considered according to the feedback control system

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- Open-loop control system:

Input decision

switch

Elect. power

Elect. fire

Output Temp. change

Heating a room open-loop control system

-No feedback -uncontrolled system -no connection between I/O of the system
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- Closed-loop control system:

Comparison element Input Required temperature switch Elect. power Elect. fire Output Const temp.

Measuring device

Heating a room closed-loop control system

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- In an open-loop control system the output from the system has no effect on the input signal. - In a closed-loop control system the output does have an effect on the input signal, modifying it to maintain an output signal at the required value. - A feedback loop is a means whereby a signal related to the actual condition being achieved is fed back to modify the input signal to the process.

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- Discuss the motor speed control considering the differences between the open- and closed-loop systems? - Compare the open- and closed loop control system? - Define the transfer function of the control system?

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Open-loop system relatively simple low cost good reliability inaccurate (no error correction)
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Closed-loop system more complex more costly greater chance of breakdown accurate in matching the required value

- Basic elements of Closed-loop control system:

Comparison element Input Reference value + _ Control unit Correction unit Process Output Controlled variable

Measuring device

The element of a closed-loop control system

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1- Comparison element: compares the required or reference value of the variable condition being controlled with the measured value, and produces an error signal. error signal=reference value signal - measured value signal (negative feedback) error signal=reference value signal + measured value signal (positive feedback)

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2- Control element: decides what action to take when it receives an error signal. - It may be, for example, a signal to operate a switch or open valve. - Control plans may be hard-wired systems or programmable system. - hard-wired systems: the control plan is fixed - Programmable systems: the control plan is stored within a memory unit and may be altered by reprogramming it.
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3- Correction element: produces a change in the process to correct or change the controlled condition. - It may be, for example, a switch which switches on a heater and so increases the temperature, or a valve which opens and allow more liquid to enter the process. - The term actuator is used for the element of a correction unit that provides the power to carry out the control action.

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4- Process element: is what is being controlled. - It may be, for example, a room temperature, or water level in a tank. 5- Measurement element: produces a signal related to the variable condition of the process that is being controlled. - It may be, for example, a switch which switches on when a particular condition is reached, or thermocouple which gives an e.m.f. related to the temperature.
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- Basic elements of Closed-loop control system:

Comparison element Input Reference value + _ Control unit Correction unit Process Output Controlled variable

Measuring device

The element of a closed-loop control system

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- Discuss the Heating a room closed-loop control system considering its basic elements? - Controlled variable: the room temp. - Reference value: the required room temp. - Comparison element: the person - Error signal: the difference between measured and required - Control unit: the person - Correction unit: the switch on the fire - Process: the heating by the fire - Measuring device: a thermometer
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- Ex. : the automatic control of water level

Water inlet Hollow ball

Water outlet lever

Pivot

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- Show the basic elements of closed-loop control system considering the automatic control of water level?
Controlled variable: water level in tank. Reference value: the initial setting of the float and level position. Comparison element: the lever Error signal: the difference between actual and initial sittings of the lever position. Control unit: the pivoted lever Correction unit: the flap opening or closing the water supply. Process: the water level in the tank Measuring device: the floating ball and lever.

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- Show the basic elements of closed-loop control system considering Shaft speed control?
Controlled variable: Reference value: Comparison element: Error signal: Control unit: Correction unit: Process: Measuring device:

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- Today, mechatronic systems are found in homes, offices, schools, shops, and of course, in industrial applications. - Common mechatronic systems include: - Microwaves, ovens, washing machine, dishwasher, TV, CD player. - Automatic gate control systems, security systems. - Laser printers, scanner, fax machine, photocopiers. - Banking systems. - Numerically controlled (NC) machines. - Flight control actuator, landing gear systems, other aircraft subsystems. - Automobile.
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Development of Automobile as a Mechatronic System

The electronic ignition system (EIS) was one of the first mechatronic systems to be introduced in the automobile in the late of 1970. The Antilock Brake System (ABS) was also introduced in 1970. The Traction control system (TCS). The vehicle dynamic control system (VDC).

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Excersise:

Development of Automobile as a mechatronic system

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Question: Give an example for a mechatronic system with a closed-loop control system showing the basic elements of the control loop.

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Excersise:

Controlled variable: distance between vehicles Reference value: required distance between vehicles Comparison element : person or any comparison unit Error signal: the difference between controlled and required distance Control unit: person or any comparison unit Correction unit: computer + ABS (Antilock Brake System) Process: controlling the distance between vehicle Measuring device: Radar
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The main components of mechatronic system: Design Approach(1)

Electronics

Digital control

Mechatronics

Sensors

Information technology

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The main components of mechatronic system: Design Approach(2)

Physical system modeling

Signals

Mechatronics

Sensors&Actuators Software& Data Acquisition

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Computer & logic system

- Semiconductor devices, such as diodes and transistors, have changed our lives since 1950s. - The two most commonly used semiconductors are germanium and silicon.

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- semiconductor devices is made by added some impurities to the germanium or silicon base, and are called doping materials. - These impurities are highly purified tetravalent atoms (boron, aluminum, gallium, indium), and pentavalent atoms (phosphorus, arsenic, antimony).
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- The effects of doping the semiconductor base material are free electrons, in the case of pentavalent atoms and holes in the case of tetravalent atoms.

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- An n-type semiconductor is one has an excess number of electrons. - A p-type semiconductor is one has holes.

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- Applying external energy to the semiconductor material (electrical, heat, light, or battery) the free electrons/holes wander through the material.

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- Applying external energy to the semiconductor material (electrical, heat, light, or battery) the free electrons/holes wander through the material.

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- The sensors are frequently used in mechatronic applications. - Sensors is a device when exposed to physical phenomenon produce out put signal (elect., mech., magn.) - Sensors are elements for monitoring the performance of machines or processes. - The common classification of sensors is distance, movement, stress/strain, force, temp.,etc.

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- The conditioned signal output from a sensor is transformed into a digital form for display on a computer or other display unit. - The apparatus for manipulating the sensor output into a digital form for display is referred to as a measuring instrument.
Physical phenomenon Signal conditioning Computer interface Digital computer

sensor

Sampling

converter

Typical computer-based measuring system

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Question: Show with sketch the basic elements of typical computer-based measuring system

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- Actuators are used to produce motion or action in mechatronic systems. - Transducer is a devise that converts one form of energy into another form of energy. - All actuators are transducers (as they convert one form of energy into another form)

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mechanical Actuators

electrical Actuators

Mech. Energy

Elect. Energy

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- A mechanical actuator is a device that can convert mechanical energy to electrical energy. - An electrical actuator is a device that can convert electrical energy to mechanical energy.

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- Some of the important electrical actuators used in mechatronic system include: solenoids, relays, electric motors. - Some of the important mechanical actuators used in mechatronic system include: hydraulic cylinders and pneumatic cylinders. - These actuators are instrumental in moving physical objects in mechatronic systems.
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