Design of Mechatronics

Lecture # 01
Introduction to Mechatronics

Department of Aeronautical Engineering

School of Aeronautics (SOA)
 Introduction to Mechatronics

What is Mechatronics?

• The mechatronics is composed of “mecha” from

word
mechanical and the “tronics” from electronics.

Mechanical+ Electronics = Mechatronics

“Mecha” + “tronics” = Mechatronics

• The term “Mechatronics” was coined by Tetsuro
Mori, a senior Japanese engineer at Yasakawa Company in
1969.

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 Introduction to Mechatronics

• Mechatronics synergistic integration of

engineering,
is electronics
mechanical
engineering, control engineering and
computer science.

• Mechatronics is the design of computer-

engineering
controlled electromechanical systems.

• A mechatronic system is a computer controlled mechanical

system.

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Model of a Typical Mechatronic System

Action Control

Sensing the
environmen
t

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 Modules of a Mechatronic System

1. Sensing
I. Sensors
II. Signal Conditioning
III. Analog-to-Digital and Digital-to-Analog Conversion

2. Control
I. Open Loop and Closed Loop Control

3. Action
I. Drive Circuits
II. Actuators
III. Motors

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 Components of a Mechatronic System

• Mechanical

• Electronics

• Sensors

• Actuators

• Control

• Computing

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Mechatronics Key
Elements
 MODELLING & SIMULATION
Modelling is the process of representing the behaviour of a real system by a
collection of mathematical equations and logic.
Physical-mathematical description of a technical component, subassembly or a
complex system.
Simulation is the process of solving the same model on computer.
Calculation of the behavior of a system model in dependence on time, and the
state of a system and environment. The simulation provides projections about the
behavior of the real system with the aid of a model, which can be executed in a
computer.
Simulation process has the three basic steps:
• Initialization
• Iteration
• Termination
AUTOMATIC CONTROL

System control is achieved by sensors,

actuators and embedded microcontrollers.
A system in which, the output has an effect
upon the input quantity, in such a manner
to maintain the desired output value is
automatic control system.
 OPTIMIZATION
 In Mechatronics, optimization is primarily used to establish the optimal
system configuration. It solves the problem of distributing limiting resources
throughout a system such that the pre-specified aspects of its behavior is
satisfied.

 Here, resources are referred to as design variables, aspects of system

behaviour as objectives, and system governing relationships (equations and
logic) as constraints.

Example - for a box-shaped luggage to maximise volume:

• Design variables : L (length), W (width), H (height)
• Objective : Maximise V = V(L,W,H)
• Constraints : System relationship V = LHW
Key elements of Mechatronic systems can be classified under following categories
1. Information systems
2. Mechanical systems
3. Electrical systems
4. Computer system
5. Sensors and actuators
6. Real time interfacing
 Introduction to Mechatronics

Evolution of automated systems:

1. Completely mechanical automatic systems (before and early
1900s)
2. Automatic devices with electronic components such as relays,
transistors, op-amps (early 1900s to 1970s)
3. Computer controlled automatic systems (1970s–present)

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 Introduction to Mechatronics

• Early automatic control systems performed their automated

function solely through mechanical means.
• For instance, a water level regulator for a water tank uses a
float connected to a valve via a linkage.
• The desired water level in the tank is set by the adjustment of
the float height or the linkage arm length connecting it to the
valve.
• The float opens and closes the valve in order to maintain the
desired water level.

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 Introduction to Mechatronics

• A mechatronic system has at its core a mechanical

system
which needs to be commanded or controlled by a controller.
• The controller needs information about the state of
the
system. This information is obtained from sensors.
• In many cases, the signals produced by the sensors are not in
a form ready to be read by the controller and need some
signal conditioning operations performed on them.
• The conditioned, sensed signals are then converted to a
digital form by Analog-to-Digital Convertor (ADC) and are
then sent to the controller.

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 Introduction to Mechatronics

• The controller is the ‘mind’ of the mechatronic system, which

processes user commands and sensed signals to generate
command signals to be sent to the actuators in the system.
Actuators are devices that can convert electrical energy to
mechanical energy
• The user commands are obtained from a variety of devices,
including command buttons, graphical user interfaces (GUIs),
touch screens, or pads.

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 Introduction to Mechatronics

• In some cases, the command signals are sent to the actuators

without utilizing any feedback information from the sensors.
This is called open-loop system, and for it to work, this
requires a good calibration between the input and output of
the system.
• The more common mode of operation is the closed-loop
mode in which the command signals sent to the actuators
utilize the feedback information from the sensors. This mode
of operation does not require calibration information.

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Open Loop System

Closed-Loop System
 Introduction to Mechatronics

• Every computer controlled system has four basic

functional blocks:
1. A process to be controlled
2. Sensors
3. Actuators
4. Controller

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 Introduction to Mechatronics

• The between a human controlled system

analogy control
computer andsystem is shown in figure.
• If a process is controlled and powered by a human operator,
the operator observes the behavior of the system (i.e. using
visual observation), then makes a decision regarding what
action to take, then using his muscular power takes a
particular control action.
• One could view the outcome of the decision making process
as a control or decision signal, and the action of the muscles
as the actuator signal which is the amplified version of the
control (or decision) signal.

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 Introduction to Mechatronics

• The functionalities of a control system can be

same
automated by use of a digital computer as shown in
the figure.
• The replace the eyes, the actuators replace
sensors and the
muscles, thecomputer replaces the human brain.
• Every mechatronic system has some sensors to measure the
status of the process variables.
• The sensors are the “eyes” of a computer controlled system.
• Actuators are the “muscles” of a computer controlled system.

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Vehicle Speed Control
 Examples of Mechatronic Systems

• Antilock Brake System (ABS)

• Electronic Fuel Injection (EFI)
• Traction Control System (TCS)
• Adaptive Cruise Control (ACC)
• Automatic Camera
• Scanner
• Hard Disk Drive
• Industrial Robots
• Mobile Robots (Wheeled Robots, Legged Robots)

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Examples of Mechatronic Systems

Wheeled Robots

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Examples of Mechatronic Systems

Aerial Robots

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Examples of Mechatronic Systems

Legged Robots

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Examples of Mechatronic Systems

Autonomous Cars

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Examples of Mechatronic Systems

Hard Drives Underwater Robots

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Examples of Mechatronic Systems

Industrial Robots

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 Benefits of Mechatronic Systems

• Enhanced features and functionality

A mechanical design typically provides only one function.
Designing with a microcontroller offers the flexibility of
adding features like LCD displays, lighting LEDs, a user
interface, programmability, safety features, speed control etc.
Modern washing machines, for instance, offer many features
over the mechanical designs of old. These features include a
display that gives cycle information as well as providing a
stain removal guide. These machines use microcontrollers to
efficiently vary the speed of different cycles based on the
content being washed.

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 Benefits of Mechatronic Systems

• More user-friendly
Mechatronic systems are more user-friendly e.g. power door
locks, keyless entry, cruise control etc.
• Precision control
Flow rate, speed, position, and any number of other variables
can be controlled precisely with a microcontroller. Cruise
control in an automobile is a great example of how a
mechatronic solution allows for precise control. In order to
give the car a smooth acceleration to the desired speed as
well as maintaining a constant velocity over varying load
conditions.

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 Benefits of Mechatronic Systems

• More efficient
The efficiency of a system can be improved by adding
intelligence to the design. Certain portions of the system can
be shut-off when not in use or a microcontroller can make
better use of the energy available.
• Lower cost
A complex mechanical solution may be simplified using a
microcontroller-based approach. Design time, product size,
and reliability can all be improved with a mechatronic
solution.

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 Benefits of Mechatronic Systems

• Flexible design (reprogrammable)

Mechatronic systems are flexible and can be easily switched
to perform different jobs by simply changing the robot control
program. This procedure is called "reprogramming“.
• More reliable
Mechanical designs are prone to wear and tear over time.
For example mechanical odometers use a direct drive system
that consists of a flexible cable running from the transmission
to the odometer gage.
The solution is unreliable because the cable is prone to
failure. The modern mechatronic solution consists of an
optical encoder and digital display, which increases system
reliability.
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 Benefits of Mechatronic Systems

• Smaller size
Adding a microcontroller to a system may result in space
savings.
• Safer
Adding intelligence to a system makes it safer. Whether you
add an automatic shutdown to a coffee pot or sense when a
system is overheating, numerous safety checks can be easily
added to a system when a microcontroller is controlling the
system.

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