ulscreLe SysLems

An lnLroducuon Lo MechaLronlcs
ACS214/271, LecLure 1 (8. Cross)
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MechaLronlc englneerlng
- Mecha-Lronlcs" (?askawa LlecLrlc Company, 1969)
- MechaLronlcs ls an lnLerdlsclpllnary area of
englneerlng LhaL comblnes mechanlcs, elecLronlcs,
conLrols, and compuLer englneerlng.
- Concerned wlLh Lhe developmenL of 'smarL'
elecLromechanlcal producLs and sysLems Lhrough an
lnLegraLed deslgn approach
- MechaLronlc sysLems employ mlcroprocessors and
soware as well as speclal-purpose elecLronlcs
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MechaLronlcs:
ulsclpllnes and Appllcauons
Application areas
Transportation
Manufacturing and production engineering
Medical and healthcare applications
Modern o!ce environments
Household applications
Space applications
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Mars rover Spirit (2003 2010)
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MechaLronlc sysLems
- ConslsL of mechanlcal elemenLs, acLuaLors, sensors,
slgnal condluonlng elemenLs, lnLerface devlces, dlglLal
hardware and soware
- MechaLronlc sysLems are deslgned by a
muludlsclpllnary Leam of englneers
- All componenLs of a mechaLronlc sysLem are deslgned
and lnLegraLed 'concurrenLly' leadlng Lo a more
emclenL, cosL eecuve, exlble and rellable sysLem
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Lxamples of mechaLronlc sysLems:
!"#$% '( )#"%
- 8eplaces mechanlcal
connecuons (push rods, rack &
plnlon, sLeerlng columns eLc.) by
mechaLronlc connecuons -
sensors, acLuaLors, embedded
mlcroprocessors, conLrol
soware
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Lxamples of mechaLronlc sysLems:
*+,"- ./#.
- lncorporaLe vlbrauon conLrol Lechnology
- Lmploy plezoelecLrlc maLerlals whlch acL boLh as sensors and
acLuaLors
- Lmbedded conLroller chlp programmed Lo acuvely dampen
vlbrauons
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Lxamples of mechaLronlc sysLems:
01+,23#4 "3'3-.
- 1he ulumaLe mechaLronlc sysLem
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Lxamples of mechaLronlc sysLems:
*),"+ "3'3-.
A swarm rescuing a child
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MechaLronlc sysLem:
8aslc sLrucLure
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MechaLronlc sysLem:
8aslc componenLs
- *(.-%+5 1he sysLem block represenLs everyLhlng performed by
Lhe process/equlpmenL whlch ls belng conLrolled
- *%2.3".5 1he sensors measure Lhe value of Lhe conLrolled
varlable and converL lL lnLo a usable slgnal. Cenerally lL wlll
conslsL of a prlmary senslng elemenL and a slgnal Lransducer (or
converLer)
- 632-"377%"5 1he conLroller compuLes Lhe dlerence beLween Lhe
measured value and Lhe deslred value of Lhe conLrolled varlable
and lmplemenLs Lhe conLrol algorlLhm LhaL converLs error lnLo a
conLrol acuon
- 89-1,-3".5 1he acLuaLors LranslaLe Lhe conLroller ouLpuL lnLo
changes of Lhe manlpulaLed varlable
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- *#:2,7 6324#;32#2: <7%+%2-.5 prepare a slgnal Lo be used by
anoLher componenL. 1he lnpuL Lo a slgnal condluoner ls Lhe
ouLpuL from a sensor or from Lhe Analogue-Lo-ulglLal or ulglLal-
Lo-Analogue ConverLer. 1he operauons performed by a slgnal
condluoner lnclude: lsolauon, lmpedance converslon, nolse
reducuon, ampllcauon, llnearlzauon and converslon.
- 63++12#9,;32 =2-%">,9%5 conslsLs of a subsysLem LhaL sends or
recelves slgnals Lo or from oLher sysLems or subsysLems and a
seL of sLandard funcuonal characLerlsucs, common physlcal
lnLerconnecuon characLerlsucs and slgnal characLerlsucs for Lhe
exchange of slgnals or daLa.
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- 82,73: *#:2,75 ls any varlable slgnal conunuous ln boLh ume and
ampllLude. lL dlers from a dlglLal slgnal ln LhaL small
ucLuauons ln Lhe slgnal are meanlngful.
- !#:#-,7 *#:2,75 A dlglLal slgnal ls a slgnal LhaL ls boLh dlscreLe and
quanuzed. MosL modern conLrol sysLems are dlglLal.
- !#.-1"',29%5 1he dlsLurbance varlables are process lnpuLs LhaL
aecL Lhe conLrolled varlable buL cannoL be manlpulaLed.
ulsLurbance varlable are capable of changlng Lhe load on Lhe
process and are Lhe maln reason for uslng a closed loop conLrol
sysLem.
- ?3#.%5 accounLs for Lhe measuremenL lnaccuracles of Lhe
sensor. 1yplcally, measuremenL errors are randomly dlsLrlbuLed.
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- 82,73:@-3@!#:#-,7 632$%"-%" A8B! 3" 8!6C5 a devlce LhaL
converLs conunuous slgnals Lo dlscreLe dlglLal numbers.
1yplcally, an AuC ls an elecLronlc devlce LhaL converLs a volLage
Lo a blnary dlglLal number. Powever, some non-elecLronlc
devlces, such as sha encoders, can be consldered as AuCs.
- !#:#-,7@-3@82,73: 632$%"-%" A!B8 3" !86C5 a devlce for
converung a dlglLal (usually blnary) code Lo an analog slgnal
(currenL, volLage or charges). ulglLal-Lo-Analog ConverLers are
Lhe lnLerface beLween Lhe absLracL dlglLal world and Lhe analog
real llfe. Slmple swlLches, a neLwork of reslsLors, currenL sources
or capaclLors may lmplemenL Lhls converslon.
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MechaLronlc sysLems
- MosL mechaLronlc sysLems are ln facL conLrol sysLems
- 632-"37 .(.-%+5 any group of componenLs LhaL malnLalns a
deslred resulL or value by manlpulaung Lhe value of anoLher
varlable ln Lhe sysLem
- 1he varlable whose value ls conLrolled ls called Lhe !"#$%"&&'(
*+%,+-&'
- 1he varlable LhaL ls ad[usLed ln order Lo achleve Lhe deslred
resulL ls called Lhe .+#,/0&+$'( *+%,+-&'.
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MechaLronlc sysLems
classlcauon
MechaLronlc conLrol sysLems can be classled ln a number of
dlerenL ways accordlng Lo:
D(E% 3> .#:2,7
uependlng on Lhe naLure of Lhe slgnal, conLrol sysLems can be
classled ln +#+&"10' and (,1,$+& conLrol sysLems.
F%%4',9/
uependlng on wheLher feedback ls used or noL, conLrol
sysLems can be classled ln "/'#2&""/ and !&"3'(2&""/ conLrol
sysLems.
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A 973.%4@733E 932-"37 sysLem measures Lhe dlerence beLween
Lhe acLual resulL and Lhe deslred resulL. 1he dlerence or error
ls used Lo deLermlne Lhe changes needed ln Lhe manlpulaLed
varlable ln order Lo drlve Lhe sysLem Loward Lhe deslred resulL.
A closed-loop conLrol sysLem performs Lhe followlng baslc
operauons:
G%,.1"%+%2-: measure Lhe value of Lhe conLrolled varlable
!%9#.#325 derlve a conLrol acuon Lo reduce Lhe conLrol error
G,2#E17,;325 Change Lhe value of Lhe manlpulaLed varlable
accordlng Lo Lhe compuLed conLrol acuon.
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An 3E%2 733E 932-"37 .(.-%+ does noL compare Lhe acLual
resulL wlLh Lhe deslred resulL Lo deLermlne Lhe conLrol acuon.
An open loop conLrol sysLem achleves Lhe deslred resulL based
on a callbraLed semng.
Cpen loop conLrol ls easler and cheaper Lo lmplemenL buL
cannoL correcL unexpecLed dlsLurbances or parameLer
varlauons.
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*%-E3#2-
ConLrol sysLems are classled lnLo %'10&+$"% 343$'.3 and 5"&&"6
0/ 343$'.3, dependlng on how Lhey are used.
A "%:17,-3" .(.-%+5 closed-loop conLrol sysLem ln whlch Lhe
seLpolnL (deslred value of Lhe conLrolled varlable) ls seldomly
changed. 1he prlme funcuon ls Lo malnLaln Lhe conLrolled
varlable consLanL, desplLe unwanLed load changes. Lxamples
lnclude pressure regulaLors, crulse conLrol sysLems, eLc.
A >3773)@1E .(.-%+ ls a closed-loop conLrol sysLem ln whlch Lhe
seLpolnL ls frequenLly changlng. lLs prlme funcuon ls Lo keep Lhe
conLrolled varlable ln close correspondence wlLh a ume-varylng
reference slgnal. Lxamples lnclude radar Lracklng sysLems,
anLenna posluon conLrol sysLems, remoLely operaLed roboLs.
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8EE7#9,;32 ,"%,
ConLrol sysLems can also be classled accordlng Lo maln
appllcauon areas as:
H"39%.. 932-"375 lnvolves Lhe regulauon of varlables ln a process
dened as deslgned sequence of operauons or evenLs, whlch
Lhrough changes of physlcal or chemlcal properues of raw
maLerlals produces some deslrable producL. Lxamples lnclude
peLroleum renery, food processlng planL, elecLrlc power planL
eLc.
1he mosL commonly conLrolled varlables ln a process are
LemperaLure, pressure, ow raLe and level. CLhers lnclude
denslLy, vlscoslLy, colour, conducuvlLy, pP and hardness.
rocess conLrol lnvolves relauvely slow processes characLerlsuc
ume consLanLs of Lhe order of seconds, mlnuLes or even hours.
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*%"$3+%9I,2#.+.5 closed-loop conLrol sysLems ln whlch Lhe
conLrolled varlable ls physlcal posluon or mouon. Many
servomechanlsms are used Lo malnLaln an ouLpuL posluon ln
close correspondence wlLh an lnpuL reference slgnal and hence
are follow-up sysLems.
Servomechanlsms usually lnvolve relauvely fasL processes wlLh
ume consLanLs less Lhan 1 second.
Cruise control
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J3'3;9.5 commonly lnvolve programmable manlpulaLors
deslgned Lo move maLerlals, parLs, Lools or oLher devlces
Lhrough a sequence of Lasks Lo accompllsh a speclc Lask.
1he closed-loop sysLems are usually follow-up posluonlng
conLrol sysLems whlch use posluon and veloclLy feedback
slgnals Lo conLrol Lhe movemenL of Lhe manlpulaLor. Powever,
slghL, Lacule senslng and volce recognluon are also belng used
as lnpuLs Lo Lhe conLroller.
1hese sensory slgnals are used Lo deLecL Lhe presence,
dlmenslon or even Lhe ldenuLy of an ob[ecL.
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632-"377%" 739,;32
Accordlng Lo Lhe locauon of Lhe conLrollers ln a cenLral conLrol
room or near Lhe sensors and acLuaLors, conLrol sysLems can be
classled lnLo !'#$%+&,7'( and (,3$%,-0$'(.
!#.-"#'1-%4 932-"37 .(.-%+. A!6*C5 are used ln lndusLrlal and
clvll englneerlng appllcauons Lo monlLor and conLrol dlsLrlbuLed
equlpmenL wlLh remoLe human lnLervenuon.
uCS use a neLwork Lo lnLerconnecL sensors/eld lnsLrumenLs,
conLrollers, operaLor Lermlnals and acLuaLors.
uCS descrlbe soluuons across a varleLy of lndusLrles, lncludlng:
- LlecLrlcal power dlsLrlbuuon grlds and generauon planLs
- LnvlronmenLal conLrol sysLems
- WaLer managemenL sysLems
- 8enlng and chemlcal planLs
- harmaceuucal manufacLurlng
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ConLenLs
- Sensors
- lnLerconnecuon and slgnal condluonlng
- ulglLal loglc and hardware
- Mlcroprocessors
- 8aslc conLrol lmplemenLauon
- AcLuaLors
Stepper motors
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Stepper motors
To control accurately position or speed of
a load or device
Computer periphery, satellite dish positioning
systems, medical applications, robotics, etc.
Principle:
Driven in xed angular steps
One increment per electric pulse
Open loop control common
Non-cumulative positioning error
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Di!erent types
Variable reluctance
Permanent magnet
low cost
for low power applications
Hybrid
for industrial applications
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Stator/rotor system
Stator is the stationary outer or inner
housing of the motor that supports the
material that generates the appropriate
stator magnetic eld.
Rotor is the rotating part of the motor.
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Variable reluctance (VR)
stepper motor
Non-magnetized, soft-iron
rotor [6-pole]
Stator [8-pole], 4 phases
1 phase is energized at a time
Rotor motion is result of the
minimization of the magnetic
reluctance (resistance)
between the rotor and stator
poles.
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http://www.wisc-online.com/objects/ViewObject.aspx?ID=IAU14208
Stepping sequence
Step angle = 360/(a*b)
a: number of rotor poles
b: number of phases
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Stepping modes
Full-stepping (previous slide)
Half-stepping
Microstepping (by changing the phase currents
by small increments)
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Permanent magnet (PM)
stepper motor
Magnetized rotor
Electric circuit alternately
switches polarity of stator
poles (-1, 0, 1)
Rotor PM eld will align to
match induced stator eld,
reaching the stable
equilibrium (detent position).
45 / 90 steps
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Terminology
Holding torque
The maximum steady torque that can be
applied to the shaft of an energized motor
without causing continuous rotation.
Detent torque (not for VR stepper motor)
The maximum torque that can be applied to
the shaft of a non-energized motor without
causing continuous rotation.
Maximum starting frequency
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Drawbacks
If holding torque is exceeded, all knowledge of
position is lost.
Produces much less torque, for a given size, than
the equivalent DC/AC motor
Resonances can occur if not properly controlled.
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Example (from A2 assignment)
Control of stepper motor
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First assignment (A1)
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Programming of LED Display Units
Important: C programming skills (loops,
array access, Boolean logic, hexadecimal)
8eferences
- Clarence W. de Sllva, MechaLronlcs: A
loundauon Course, C8C ress, 2010
1oday: ChapLers 1 & 7.0 - 7.2
- 1.C. ConsLandlnou, SLepper MoLors
uncovered (1)," LlekLor LlecLronlcs 11/2003,
pp. 36-40
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