Professional Documents
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Teaching Team
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
TAs
Marking Scheme
Proposal = 3%; project update = 2%; demo = 5%; final report = 10%.
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.
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):
Final Exam:
Questions???
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.
ENGG3490: Mechatronics System Design; W07. Prepared by Radu Muresan 5
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
ENGG3490: Mechatronics System Design; W07. Prepared by Radu Muresan 6
What Is Mechatronics?
Mechatronics: integration of mechanical and electronic components p coordinated by ya control architecture. Disciplines important in the design of mechatronics:
Example of Systems
Systems
Not concerned with what happens pp inside the box Interested only in the relationship between the output and the input
Measurement Systems
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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Control Systems
Example
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Open-Loop Systems
In open-loop systems, there is no feedback reaction => the system cannot adapt to the environment
Closed-Loop System
Feedback
Advantage: accurate in matching the actual to the required values; but are more complex Example: heating a room
Comparison element
Negative
Positive
Cont
Control element decides through a control plan what action to take when it receives an error signal i l
switch on or off an electric switch; proportionally open or close a valve; etc. Hard-wired H d i d systems t Programmable systems
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
Identification Example 1
Controlled variable? Reference value? Comparison p element? Error signal? Control unit? Correction unit? Process? Measuring device?
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Controlled variable? Reference variable? Comparison element? Error signal? Control unit? Correction unit? Process? Measuring device?
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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
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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The controller is a microprocessor and the program is a software program Pre-wash cycle y
Level sensor
An output is generated after the pre-wash cycle Valve is open to allow cold water
Level sensor
Temperature sensor
The drum motor is turned on for a period of time The discharge pump is turned on
Advantages
Variety of programs become f feasible ibl Embedded microcontroller Programmable logic controller (PLC)
Types of implementations
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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 of a car is responsible for managing the ignition and fuelling requirements of the engine
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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
Kettle system Camera lens control signal Bathroom scale system Need models that relate the outputs to the inputs and time
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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 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:
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Exercises
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