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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
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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”.
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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
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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.
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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
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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.
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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