Introduction to Mechatronics Mech-1540

Stefan B. Williams Federation Research Fellow

Stefan Williams

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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

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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 be posted during the week

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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: stefanw@acfr.usyd.edu.au Web: www.acfr.usyd.edu.au - people Phone: [935]-14023
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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

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Course Objectives
To provide a general introduction to mechatronic principles:
Systems Control Computing Sensors Actuators

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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 what might be possible Not a detailed knowledge of computers or sensors or actuators

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Schedule of Events
Week 1 2 3 4 5 6 7 8 9 10 11 12 13 14 Date 13/3 20/3 27/3 3/4 10/4 17/4 1/5 8/5 15/5 22/5 29/5 5/6 12/6 19/6 Content Introduction Design Process Actuators Sensors Assignment 1 Design Exercise Computer Hardware MID SEMESTER BREAK Computer Software and Design Tools System Modelling and Control Assignment 2 - Control and Modelling Active Sensor Systems (Graham Brooker) Case Study : Formula SAE Case Study : Unmanned Air/Land/Sea Vehicles Major Assignment Spare Q 2 of Assign 2 Q 3, 4 of Assign 2 Q 1 of Assign. 1 Q 2 of Assign 1 Q 3 of Assign 1 Assignment Notes

Due 11/4
Q 1 of Assign 2

Due 16/5

Due 13/6 1540 Introduction To Mechatronics 8

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Assignments/Tutorials
Attendance
Worth 10% - Ill 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:

Stefan Williams

A Design and Analysis Exercise Worth 50% Requires 8-12 hours outside tutorial Strict due date
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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

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What is Mechatronics?
An interdisciplinary area of specialization involving the simultaneous application of mechanical, electrical, control and computer engineering principles together with computer software in designing useful systems
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Computing

Electrical

Control

Mechanical

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What courses relate to Mechatronics?

Mechanical
Statics Advanced Dynamics Dynamics of Vibration Mechanical Design

Control
Systems Control Advanced Control

Computing
Introduction to C Programming * Real Time Systems

Electrical
Introduction to Electical Engineering Digital Design * Electronics * Power Electronics *

Mechatronics
Intro. To Mechatronics Mechatronics 1 * Mechatronics 2 *
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Mechatronic Components
Decision Process System Models Control Time Scales Degree of Flexibility Complexity of Decisions Costs

Sensors

Actuators

REAL WORLD
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Model of a Mechatronic System

Desired System Performance Control

Noise

Signal Capture

Actuators

Sensors

Mechanical System

Disturbances

Environment
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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 media speed Conversion of digital data to analogue signal

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Examples : Hard Drive

A computer disk drive is another example of a rotary mechatronic system Requires
Accurate positioning of the magnetic read head Precise control of media speed Extraction of digital data from magnetic media

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Spinning Media System

System required to spin media Read head must be positioned to retrieve data High degree of precision reqd High speed operation Low cost

Media

Read Head

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Examples : Modern Automobiles

Modern Automobiles are controlled by a number of computer components Requires
Control of automobile sub systems
Brakes and acceleration Cruise control ABS Climate control GPS

Reliability Low cost Ease of use

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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
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A traditional Electo-Mechanical design

Analog I/O Timing

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A Mechatronic design
Micro Processor

Amp. M

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The Motor Control Loop

Control Micro Processor Sensing Amp. M Actuation Load

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Actuators:Types
DC Servos AC Servos Stepper Motors Piezo Hydro static Pneumatic Hydraulic

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Actuators: Main Issues

Power Speed Torque/Force Speed of response Ripple/noise Resolution Friction/backlash

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Sensors
Physical Transduction Methods Signal Conditioning Signal Conversion

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Sensors: Physical Transduction Methods

Mechanical Electro-Magnetic Optical Thermal Acoustic

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Sensors: Signal Conditioning

Amplification Noise suppression Filtering Shock and environment

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Sensors: Conversion

Analogue-digital conversion (sampling) Signal frequency (sample rate) Aliasing Memory and processing cycles Signal processing algorithms

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The Decision Process

Analogue Electronic Systems Programmable Logic Controller (PLC) Micro Controller Digital Computer

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Pay-Offs
Complexity Speed Reliability Cost Flexibility

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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

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System Modelling With Block Diagrams

Load Disturbance Desired Velocity

Controller, Amplifier
Voltages ?

Motor/Load Dynamics

+ +
Measured Velocity

Actual Velocity

Velocity Measurement

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System Modelling With Block Diagrams

yn
xd
+ u = K ( xd xm )

dy 1 + y=x dx T

y
+

xm
xm = Ayb + B

ya

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System Modelling With Block Diagrams

Input Transfer Function Output

A gain Differential Equation Logic Condition Look-up Table

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A State Machine Analysis

A conceptual understanding of procedure A method for structuring system and software Well defined system states and transfer events

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System Modelling With State Machines

Power up
Power on Signal Data

Fail

Power down
Power off Signal

Fail

Initialise
Ready

Run

Data Base
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The Run State

Ready Done

Fail

Fail

Fill

Stop Spin Wash Rinse

Empty
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Flow Chart : Fill State

Start

Describes flow of operation within a particular state Used to represent sequence of actions to be taken

Open Valve Check Level

No Timeout

Overflow

Fill Achieved?
Yes

Open Valve Fail Stop

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Overall Systems Behaviour

System Engineering Control Theory

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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 ?

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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 ?

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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 ?!!
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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
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Autonomous Flight Control 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.

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Autonomous Flight Control Systems Rudder position

Forward sensors (radar, vision, laser)

Elevon position
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Engine RPM
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Inertial Measurement Unit

Measures accelerations and rotation rates in three axes

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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

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Vehicle System
To FMS

Elements:
PC104 IMU GPS Flight Sensors

GPS

GPS

GPS

GPS

GPS Cards (4)

IMU

PC104 Flight Control

Serial/CAN DIP

Flex I/O

Vehicle Bus (CAN)

Calculation of Position/Attitude Platform Control

Air Data

To Map Bus
Flex I/O

Tilt Sensors

RPM Sensor

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Terrain Sensing

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Flight Monitor

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Flight Tests

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