ENG3490 WEEK1

1. Course Requirements 2. Introduction Ref [1]: pp. pp 1 1-11; 11;

ENGG3490: Mechatronics System Design; W07. Prepared by Radu Muresan

Teaching Team

Instructor: Radu Muresan, PhD, PEng.

Email: rmuresan@uoguelph.ca Web: http://www.soe.uoguelph.ca/webfiles/rmuresan/ L Lectures: M M, W W, F from: f 12:30 12 30 pm to 1 1:20 20 pm Office hours: W: 11 am 12:00 am; Nathaniel Groendyk Matthew Mayhew: Room: THRN 2307 Office hours: After the lab class

Technician and Lab Coordinator:

TAs

ENGG3490: Mechatronics System Design; W07. Prepared by Radu Muresan

Marking Scheme

Labs: 30%; (lab sections )

Lab 1, 2, 3 = 5%; Lab 4 = 15% 5%

demo = 5%; report = 8%; kicking device = 2%.

PLC Project: 20% (Topic must be chosen by Week 7)

Proposal = 3%; project update = 2%; demo = 5%; final report = 10%.

Midterm: 20% Final Exam: 30% Final Course Mark Calculation:

Labs 30% + Project 20% + Midterm 20% + Final Exam 30%; Perform all the labs (get passing marks), Write both exams (midterm and final) and get at least 40% in one of them.

NOTE: In order to pass the course you must:

If NOT: the final mark is the average ofPrepared the exams times two ENGG3490: Mechatronics System Design; W07. by Radu Muresan

Exam Dates

Midterm (tentative):

March 7th from 7 pm to 9 pm in the THRN2307 TBA

Final Exam:

Questions???

ENGG3490: Mechatronics System Design; W07. Prepared by Radu Muresan

Course Outline (Tentative)

TEXT BOOKS:

[ ] A. Smaili, [0] , F. Mrad, , Applied pp Mechatronics, , Oxford University Press, 2008. [1] David G. Alciatore, Michael B. Histand: Introduction to Mechatronics and Measurement Systems, 3/E, McGrawHill, 2007. [2] [ ] Frank D. Petruzella, , Programmable g Logic g Controllers, 3/E, McGrawHill, 2005. [3] W. Bolton, Mechatronics 4th Edition, Prentice Hall 2008.
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Course Outline (Tentative)

Part 1: Introduction + Review of Electric Circuits Part 2: Sensors; Part 3: Actuators; Part 4: Data Acquisition; Part 5: PLCs, Basics of PLC Programming, PLC Wiring Diagrams, PLC Components; Part 6: Modeling, Modeling System Response, Response and Feedback Systems for Mechatronics; Part 7: Mechatronic Systems - Control Architectures
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What Is Mechatronics?

Mechatronics: integration of mechanical and electronic components p coordinated by ya control architecture. Disciplines important in the design of mechatronics:

mechanics electronics l t i control computer engineering

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Components in a Typical Mechatronic System

ENGG3490: Mechatronics System Design; W07. Prepared by Radu Muresan

Example of Systems

Systems

Mechatronics involves various systems:

measurement, drive and actuation, control, microprocessor, analytical

System: black box which has an input and an output

Not concerned with what happens pp inside the box Interested only in the relationship between the output and the input

ENGG3490: Mechatronics System Design; W07. Prepared by Radu Muresan

Measurement Systems

Made up of three elements

Sensor responds to the quantity being measured by giving as its output a signal related to the quantity; Ex ? Signal conditioner manipulates the output of the sensor into a condition suitable for display or use to exercise control; Display output is displayed
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Measurement System Digital Thermometer

ENGG3490: Mechatronics System Design; W07. Prepared by Radu Muresan

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Control Systems

There are two basic forms of control systems:

Open-loop; Open loop; closed closed-loop loop

Feedback control systems are widespread in nature, at home, and in industry.

Reference signal Signals are fed back from the o tp t output Error measurement Appropriate response signal

Example
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Open-Loop Systems

In open-loop systems, there is no feedback reaction => the system cannot adapt to the environment

Advantages: simple, low cost, and more reliable

Example: heating a room

Selection switch (manual): 1kW or 2kW

Q: How can we transform this system in a closed-loop system?
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Closed-Loop System

Feedback

Input is adjusted according to whether its output is at the required q value

Advantage: accurate in matching the actual to the required values; but are more complex Example: heating a room

measuring device (thermometer) Switch on or off (automatically) the heating elements

ENGG3490: Mechatronics System Design; W07. Prepared by Radu Muresan 14

Basic Elements of Closed-Loop Systems

Comparison element

Error signal = reference value signal measured value signal i l Feedback

Negative

Negative feedback is required to control a system

ENGG3490: Mechatronics System Design; W07. Prepared by Radu Muresan 15

Positive

Cont

Control element decides through a control plan what action to take when it receives an error signal i l

Examples of control plans

switch on or off an electric switch; proportionally open or close a valve; etc. Hard-wired H d i d systems t Programmable systems

Types of control plans

Q: Advantages/disadvantages of the above control plans?

ENGG3490: Mechatronics System Design; W07. Prepared by Radu Muresan 16

Cont

Correction element produces a change in the process to correct or change the control condition

Actuator: element of correction unit that provides the power to carry out the control action

Process element: the process that is being controlled Measurement element: produces a signal related to th variable the i bl condition diti of f th the process th that ti is b being i controlled

Ex: switch ; themocouple ;

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Identification Example 1

Controlled variable? Reference value? Comparison p element? Error signal? Control unit? Correction unit? Process? Measuring device?
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Closed-Loop Control Example 2; Pure Mechanical System

Controlled variable? Reference variable? Comparison element? Error signal? Control unit? Correction unit? Process? Measuring device?
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The automatic control of water level

Automatic Control System for the Speed Rotation of a Shaft Example 3

ENGG3490: Mechatronics System Design; W07. Prepared by Radu Muresan

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Sequential Controllers

Control is such that actions are strictly ordered in a time or event driven sequence

Electrical circuit with sets of relays Cam-operated switches which are wired up in such a way

The operating sequence is called a program Example: Domestic Washing machine

ENGG3490: Mechatronics System Design; W07. Prepared by Radu Muresan 21

Cam-Operated Switches; Mechanical Switches Machine switch on =>

A small electric motor slowly rotates its shaft (proportional with time) -> electrical switches are operated mechanically in a correct sequence by cams installed on the shaft Note: More cams can be positioned on the shaft if needed

The contours of the cams are the means by which the program is specified and stored in the machine
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Modern Washing Machines

The controller is a microprocessor and the program is a software program Pre-wash cycle y

Electrically operated valve is turned on/off

Level sensor

The main wash cycle

An output is generated after the pre-wash cycle Valve is open to allow cold water

Level sensor

Electric heater activated to bring the water to the programmed t temperature t

Temperature sensor

The drum motor is turned on for a period of time The discharge pump is turned on

The rinse operations is performed The spinning operations is performed

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Microprocessor Based Controllers

Advantages

Variety of programs become f feasible ibl Embedded microcontroller Programmable logic controller (PLC)

Types of implementations

Microprocessor based Stores programs; can be reprogrammed

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The Automatic Camera; Example

ENGG3490: Mechatronics System Design; W07. Prepared by Radu Muresan

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Cont

When the camera switch is on and the camera is pointed at the object being photographed the following operations are performed by the microprocessor:

Focus control

reads the rage sensor sends an output to the lens position to set the focusing Reads the light sensor Determines the time which the shutter will be open Gives an output to the motor drive to advance the film to the next position after the photograph has been taken
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Exposure control

Film control

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The Engine Management System

The engine management system of a car is responsible for managing the ignition and fuelling requirements of the engine
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Elements of the Engine Management System

The power and speed are controlled by varying the ignition timing and the air airfuel mixture Controlled parameters

Ignition timing

Inputs: engine speed, crankshaft position, spark timing feedback Inputs: engine temperature, throttle pos Inputs: mass air flow ENGG3490: Mechatronics System Design; W07.
Prepared by Radu Muresan 28

Air-fuel mixture

Fuel injected

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Response of Systems

The response of any system to an input is a function of time Example

Kettle system Camera lens control signal Bathroom scale system Need models that relate the outputs to the inputs and time

System behavioral analysis

ENGG3490: Mechatronics System Design; W07. Prepared by Radu Muresan

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The Mechatronics Approach

A microprocessor may be considered as being a collection of logic gates and memory elements whose logical functions f are implemented by means of software The microprocessor-controlled washing machine can be considered as an example of a mechatronics approach

A mechanical h i l system t h has b become i integrated t t d with ith electronic controls

A bulky mechanical system (cam operated switches) is replaced by a compact microprocessor system that is adjustable
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Problem Example

Problem 4: The automatic control system for the temperature of a bath of liquid consists of a e e e ce voltage o tage fed ed into to a d differential e e ta a amplifier. p e reference This is connected to a relay which then switches on or off the electrical power to a heater in the liquid. Negative feedback is provided by a measurement system which feeds a voltage into the differential amplifier. Sketch a block diagram of the system and explain how the error signal is produced Sol tion Solution:

ENGG3490: Mechatronics System Design; W07. Prepared by Radu Muresan

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Exercises

Ref [3]: Chapter 1, problems 1 to 9.

ENGG3490: Mechatronics System Design; W07. Prepared by Radu Muresan

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