1.Introduction a Mecatrónica

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1540 Introduction To Mechatronics 1Stefan Williams

Introduction to MechatronicsMech-1540

Stefan B. Williams

Federation Research Fellow




Lecture Schedule

• Course Information

– How to contact lecturers and tutors

– How to get information about this course

– What this course will contain

– The schedule of events – Assignments, tutorials, examinations

– What is expected from students

• What is Mechatronics?

• Some examples of Mechatronic Systems




Course Information

• All course information is available via the

ACFR web site on:

• http://www.acfr.usyd.edu.au --

Teaching/Undergraduate/Mechatronics 1540

• Lecture slides and assignments will beposted during the week




Contact

• Stefan Williams:

– Research Associate of Mechatronic Engineering

– Australian Centre for Field Robotics

• How to see me:

– Thursday 0900-1100

– Do not attempt to turn up at my office !

• Make an appointment: – E-mail: [email protected]

– Web: www.acfr.usyd.edu.au - people

– Phone: [935]-14023




Contact Tutors:

• Tutors only available at tutorial times and at

the end of lecture sessions• Most tutors live in ACFR Building

• Tutor contact information on web page• www.acfr.usyd.edu.au -- people

• See policy document on admission to ACFR

building: www.acfr.usyd.edu -- contact us




Course Objectives

• To provide a general introduction tomechatronic principles:

– Systems

– Control

– Computing

– Sensors

– Actuators




Course Outcomes

• A broad appreciation of mechatronics for both

mechatronic and mechanical engineers

• An understanding of the main components of a

mechatronic system and how they fit together

• A knowledge of what is ‘out there’ and whatmight be possible

• Not a detailed knowledge of computers or sensors or actuators




Schedule of Events

MID SEMESTER BREAK

Spare19/614Due 13/6Major Assignment12/613

Case Study : Unmanned Air/Land/Sea Vehicles5/612

Case Study : Formula SAE29/511

Active Sensor Systems (Graham Brooker)22/510

Due 16/5Assignment 2 - Control and Modelling15/59

Q 3, 4 of Assign 2System Modelling and Control8/58

Q 2 of Assign 2Computer – Software and Design Tools1/57

6

5

4

3

2

1

Week

17/4

10/4

3/4

27/3

20/3

13/3

Date

Computer – Hardware

Assignment 1 – Design Exercise

Sensors

Actuators

Design Process

Introduction

Content

Q 1 of Assign 2

Due 11/4

Q 3 of Assign 1

Q 2 of Assign 1

Q 1 of Assign. 1

Assignment Notes




Assignments/Tutorials

• Attendance

– Worth 10% - I’ll pass around a list to be

initialled during the lectures• Tutorials

– Worth 20% each

– Require 2-4 hours outside tutorial – Due date adhered to !

• Major Assignment:

– A Design and Analysis Exercise – Worth 50%

– Requires 8-12 hours outside tutorial

– Strict due date




What I expect from you

• Lectures

– Turn up (hence the attendance marks)

– Ask (sensible) questions as much as you like

– Take an interest in the material being presented

• Tutorials: – Work on questions before tutorials

– Use tutorials to clarify and enhance

– Assignments to be submitted on time




Mechanical

What is Mechatronics?

• An interdisciplinaryarea of specialization

involving thesimultaneousapplication of mechanical,electrical, controland computer engineeringprinciples together with computer software indesigning useful

systems

ControlElectrical

Computing




What courses relate to Mechatronics?

• Mechanical

– Statics

– Advanced Dynamics – Dynamics of Vibration

– Mechanical Design

• Electrical – Introduction to Electical

Engineering

– Digital Design *

– Electronics *

– Power Electronics *

• Control

– Systems Control

– Advanced Control• Computing

– Introduction to C

Programming * – Real Time Systems

• Mechatronics – Intro. To Mechatronics

– Mechatronics 1 *

– Mechatronics 2 *




Mechatronic Components

Decision Process

• System Models

• Control

ActuatorsSensors

REAL WORLD

Time Scales

Degree of FlexibilityComplexity of Decisions

Costs




Model of a Mechatronic System

Environment

Sensors

ActuatorsSignal Capture

Control

Mechanical

System Disturbances

Noise

Desired SystemPerformance




Examples : The CD Player

• A CD player is an example

of a mechatronic system

• Requires – Accurate positioning of the

laser read head

– Precise control of mediaspeed

– Conversion of digital data

to analogue signal




Examples : Hard Drive

• A computer disk drive is

another example of a

rotary mechatronicsystem

• Requires

– Accurate positioning of the magnetic read head

– Precise control of media

speed – Extraction of digital data

from magnetic media




Spinning Media System

• System required

to spin media

• Read head mustbe positioned to

retrieve data

• High degree of precision req’d

• High speed

operation

• Low cost

Media

Read Head




Examples : Modern

Automobiles

• Modern Automobiles arecontrolled by a number of computer

components• Requires

– Control of automobilesub systems

• Brakes and acceleration

• Cruise control

• ABS

• Climate control

• GPS

– Reliability

– Low cost

– Ease of use




Examples : Washing Machine

• System Requirements – Understanding of load sizes

– Receptacle to hold clothes

– ‘Plumbing’ – Agitation of drum

– Ease of use

– Reliability

– Low Cost• Actuators

– AC or DC Motors

– Water inlet/drain

• Sensors – Water level

– Load speed/balance

• Control – Choice depends on design




A traditional Electo-Mechanical design

M

Analog I/O

Timing




A Mechatronic design

M

Micro Processor

Amp.




The Motor Control Loop

M Load

Micro Processor

Amp.

Sensing

Actuation

Control




Actuators:Types

• DC Servos

• AC Servos

• Stepper Motors

• Piezo

• Hydro static• Pneumatic

• Hydraulic




Actuators: Main Issues

• Power

• Speed

• Torque/Force

• Speed of response• Ripple/noise

• Resolution• Friction/backlash




Sensors

• Physical Transduction Methods

• Signal Conditioning

• Signal Conversion

Sensors Ph sical




Sensors: Physical

Transduction Methods

• Mechanical

• Electro-Magnetic

• Optical

• Thermal

• Acoustic




Sensors: Signal Conditioning

• Amplification

• Noise suppression

• Filtering

• Shock and environment




Sensors: Conversion

• Analogue-digital conversion (sampling)• Signal frequency (sample rate)

• Aliasing

• Memory and processing cycles

• Signal processing algorithms




The Decision Process

• Analogue Electronic

Systems

• Programmable LogicController (PLC)

• Micro Controller

• Digital Computer




Pay-Offs

• Complexity

• Speed

• Reliability

• Cost• Flexibility

System Modelling With





Block Diagrams

• A block diagram describes system structure• A block diagram describes the mathematics used

to model the system• A block diagram can be used to understand the

system both physically and mathematically






Block Diagrams

Motor/Load

Dynamics

VelocityMeasurement

Controller,

Amplifier

Desired

Velocity

ActualVelocity

Measured

Velocity

Load

Disturbance

+

+ +

-

Voltages ?






Block Diagrams

+

+ +

-

1dy y x

dx T + =

u( )d mu K x x= −

d x y

m x

a y

n y

m b x Ay B= +






Block Diagrams

Transfer

Function

Input Output

A “gain”

Differential Equation

Logic Condition

Look-up Table




A State Machine Analysis

• A conceptual understanding of procedure

• A method for structuring system andsoftware

• Well defined system states and transfer events



Th R St t




The Run State

Empty

Wash

FillDone

Ready

SpinRinse

Stop

FailFail

Fl Ch t Fill St t




Yes

Overflow

Timeout

Flow Chart : Fill State

• Describes flow of

operation within a

particular state

• Used to represent

sequence of actions to be taken

Open Valve

Fill Achieved?

Check Level

Start

Stop

Fail

Open Valve

No

O ll S t B h i




Overall Systems Behaviour

• System Engineering

• Control Theory

S t B h i I




Systems Behaviour I

• Stability:

– Will it oscillate or blow up in some unpredictable way ?

– Is it naturally stable or does it require active control ?

• Robustness:

– Will it be sensitive to small changes in system or environment parameters ?

– What about uncertainty and signal noise ?

– If I hit it, does it fall over ?

Systems Behaviour II




Systems Behaviour II

• Speed of Response

– Will it react sufficiently quickly on request ?

– Can it respond to “high frequency change” in desired

position etc (Bandwidth) ?

• Energy Efficiency – Does it do what it is supposed to do using a minimum

amount of energy ?

– Is there enough actuator power to drive the system ?

System Behaviour III




System Behaviour III

• Safety

– Will it carry on working if something fails ?

– Will it fail but fail in a known way ?

– Software, actuator, sensor failures

– Standards, proofs, test programme.• Economics

– Overall cost in market

– Size, weight, noise

– Does it look good ?!!

Field Robotics at ACFR




Field Robotics at ACFR

• Cargo Handling

– Autonomous Container

Vehicles

– Cranes and Lifting Gear • Mining

– Open Cut Haulage and

Excavation

– Underground Haulage• Aerospace

– Tracking and picture

compilation

– Unmanned Flight Vehicles

• Subsea

– Environment Monitoring

– Subsea Mining

Autonomous Flight Control




g

Systems

• Control of Flight Platform Position and

Trajectory• Control of rudder, elevons, throttle, etc

• Measurement of position, attitude of platform• Measurement of relative location with respect

to ground.

Autonomous Flight Control




SystemsRudder position

Elevon position Engine RPM

Forward sensors

(radar, vision, laser)

Inertial Measurement Unit




Inertial Measurement Unit

Measures accelerations androtation rates in three axes

Global Positioning System




Global Positioning System

• Attitude differential GPS: – Four antenna-receivers

– Position: DGPS (2m) – Velocity: Doppler (0.2m/s)

– Attitude: Carrier phase (0.4O

• 10 Hz Corrections

Vehicle System




Vehicle System

Vehicle Bus (CAN)

Flex I/O

Air Data RPM Sensor Tilt Sensors

GPS Cards (4)

Serial/CAN DIP

GPS GPSGPSGPS

Flex I/O

PC104 Flight

Control

IMU

To Map Bus

To FMS

• Elements: – PC104

– IMU

– GPS – Flight Sensors

• Calculation of

Position/Attitude• Platform Control

Terrain Sensing




Terrain Sensing

Flight Monitor




Flight Tests




Flight Tests

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1.Introduction a Mecatrónica

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