Stefan B.

Williams April 2003

Mech 1540, Introduction to Mechatronics Assignment 2, Due 16th May (Tutorial on 15th May)
Note: This tutorial is worth 20% of the final course mark. You should spend approximately 2 hours preparing for the tutorial. The tutors will not assist you further unless there is real evidence you have attempted all questions prior to the tutorial. The tutorial is 2 hours. You should then need about 1 hour to complete the write-up (5 hours total for the assignment) for the tutorial. The completed tutorial should be placed in the appropriate assignment box on the 3rd floor of the mechanical engineering building by the due date. Total marks: 20 1. For each of the following applications: Automotive component assembly station http://www.robotics.org/public/articles/index.cfm?cat=107 Mobile phone http://electronics.howstuffworks.com/cell-phone.htm Spacecraft navigation system http://saturn.jpl.nasa.gov/cassini/Spacecraft/design_feats.shtml GPS receiver http://www.colorado.edu/geography/gcraft/notes/gps/gps_f.html http://www.spiritcorp.com/24channel.html a) Briefly identify the major components for these systems and the problem they are addressing. b) Discuss and then select possible computing hardware for each application (PLC, micro controller, embedded PC, DSP, etc.) Pay particular attention to the appropriateness of the power, memory, storage capacity and algorithmic requirements. c) Draw a state flow diagram showing the major states of the system and the transitions between them. d) Draw a simple block diagram showing the primary computing and control components you have selected, and show clearly their relation to the system of interest. Your answers should be in the following form: For each application, state what you think are the main requirements, in the form of a bulleted list. Next explain what computation needs to be performed (eg signal processing, digital logic, etc). and then justify a choice of hardware (eg a PLC, DSP, etc) to perform this task. Finally draw a simple diagram

putting in elements such as the sensor signal conditioning, amplifier actuator, feed-back loops, etc. As always, please do not write an essay. [Marks: 8]

2. Draw block diagrams and explain the operation of feedback in the following systems: a) A precise optical signal source can control the output power level to within 1%. A laser is controlled by an input current to yield the power output. A microprocessor controls the input current to the laser. The microprocessor compares the desired power level with a measured signal proportional to the laser power output obtained from a sensor. b) An auto-focus camera which will adjust the distance of the lens from the film using a beam of infrared or ultrasound to determine the distance to the subject. c) An automobile driver uses a control system to maintain the speed of a car at a prescribed level. In this block diagram, account for both the driver and the vehicle and identify areas which may incorporate both time delay and response lag. [Marks: 6] Answer only ONE of the following two questions: 3a. For a DC electric motor, the relationship between supplied current x, and output speed y is given by the differential equation

dy 1 + y = x (t ) dt T
Where T, is the time constant of the motor. a) Draw a block diagram of the system using the s notation. Label input and outputs. b) Define the speed of response and bandwidth of the system. c) Put a unity feedback loop around the system, making the current input proportional to the error between demanded velocity and actual velocity as

x(t ) = K ( y demand y (t ))
d) Draw a block diagram of the new system with feedback. e) Write a new differential equation for y in the form

dy 1 + y = y demand dt
2

f) Write in terms of T and K and hence define the new speed of response and bandwidth for the system. Comment on the effect of K. Is the system closed-loop stable for all values of K ? [Marks: 6] OR 3b. A water-turbine is fitted with a governor to control its speed in the face of changing loads. The speed of y of the turbine is given by the equation y=K1 u-K2 z rad/s where u is the water flow to the turbine in m3 /s, z is the load torque in Nm and K1, K2 are constants. The governor controls water-flow according to the equation u=K3(x-y) m3/s where x is the desired speed and K 3 is a constant. a) Draw a block diagram of the system, and express y in terms of x and z. What is the no-load speed? What is the speed change from non-load to full-load torque zmax? How does this speed change depend on the loop gain? b) If K1=1000, K2=0.05, zmax=2000, and speed is to be kept within +/-2% of a nominal 50 rad/s with a constant setting of x, suggest a value for K3. Should x be set to 50 for this? c) Sketch a graph showing how speed y varies with load z for constant x. Show on the same graph how speed would vary with z if the water flow u were held constant (no feedback). [Marks: 6]