INTRODUCTION TO MECHATRONIC SYSTEMS

[BEKM 2542]
Nursabillilah Mohd Ali
Department of Mechatronics
Faculty of Electrical Engineering
Lecture #1
Introduction to Mechatronics System
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)
Lecturer
Mrs Nursabillilah Mohd Ali, Room: B/1-10 (part 1, W1-W6)
Mr Ahmad Aizan Zulkefle(part 2)
E-mail : nursabillilah@utem.edu.my
Consultation Hours : Thu, 2.30 pm 4.30 pm
Course Website
http://ulearn.utem.edu.my/
You may download:
Teaching Plan
Lecture slides
Project information
Assignment
etc

Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)
Teaching Team
Course Objectives
Upon completing this subject, the student
should be able to:

Explain basic concept of mechatronic systems.

Explain the working principles mechatronics
systems.

Analyze selection and integration of mechatronics
components.

Identify and analyse basic mechatronics systems

Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)
Textbook
[1] Bolton, W., Mechatronics: Electronic Control
Systems in Mechanical and Electrical Engineering,
4
th
ed., Prentice-Hall, 2008.
[2] Saeed B. Niku: Introduction to Robotics, Prentice
Hall, 2011
[3] Medriam, J.L: Engineering Mechanics: Static, 5th
edition, John Wiley & Sons.
[4] Devdas, S., Richard, A.K., Mechatronics System
Designs, PWS, 1997.
[5] Auslander, D.M., Mechatronics: Mechanical System
Interfacing, 1996.




Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)
Assessment
Subject Implementations

Lectures :3 hours per week for 14 weeks (Total = 42 hours)

Tutorials : 1 hours per week for 4-6 weeks (Total = 4-6 hours)

Subject Evaluations


Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)
Assessment* Marks
Quiz 1 5%
Quiz 2 5%
Test 1 10%
Test 2 15%
Case Study / Mini Project 15%
Final Examination 50%
Total 100%
Tentative Course Outline
1) Introduction to Mechatronics System
2) Sensors and Transducers
- Introduction, performance terminology, static and dynamic characteristics,
Example of relevant sensors
3) Sensors and Transducers
- Fluid pressure sensors, liquid flow & level sensors, temperature sensors,
selection of sensors and inputting data by switches.
4) Signal Conditioning
- Introduction, operational amplifier, protection, filtering, wheatstone bridge,
digital signal and PWM
5) Data Presentation Systems
6) Pneumatic and Hydraulic Actuation Systems
7) Mechanical Actuation Systems
8) Electrical Actuation Systems
9) Basic System Models
10) System Models
11) Dynamic Responses of Systems
12) Case Study of Mechatronics System
13) Brief description of Mechatronics System Related Topics

Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)
Lectures
Attend to the lecture
Do not talk about your love life or answer your mobile
phone
Ask (sensible) questions as much as you like
No sleeping or working on other homework
Homework/Project
Do it by yourself
Dont be late
Take the initiative and learn something !
What I Expect from You
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)
MECHA + TRONICS
mechanical
electronics
The technical term, Mechatronics, was coined by
Mr. Tetsuro Mori, in 1969 when he worked for
Yaskawa Electric Corporation in Kitakyushu in
order to propose the new technology to produce
new machine tools by integrating machines and
electronics.
What is Mechatronics ?
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)
Integration of microprocessor control system, electrical
systems and mechanical system"
(Bolton, Mechatronics)
The synergistic combination of precision mechanical
engineering, electronic control and systems thinking
in the design of products and manufacturing
processes"
(Journal of Mechatronics)
Definitions of Mechatronics
What is Mechatronics ?
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)
The interdisciplinary field of engineering dealing with the
design of products whose function relies on the
synergistic integration of mechanical and electronic
components coordinated by a control architecture.
(Alciatore, D.G. and Histand, M.B.)
Definitions of Mechatronics
What is Mechatronics ?
the synergistic use of precision engineering, control
theory, computer science, and sensor and actuator
technology to design improved products and
processes
(ME Magazine)
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)
What is Mechatronics ?
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)
Mechatronics
The synergistic combination of mechanical, electrical,
and computer engineering
Emphasis on integrated product design
Optimal combination of appropriate technologies
Micro to Macro
Applications
Mechatronics Systems
MEMS
Consumer
Electronics
Tools
Computers
Cars
Stealth Bomber
High Speed Trains
Desktop sized Factory
Build small parts with a small
factory
Greatly reduces space, energy,
and materials
Mechatronics Systems
-Manufacturing Applications-
Micro Factory
Micro Factory Drilling Unit
CNC Bending
Fully automated bending: load
sheet metal and the finished bent
parts come out
Can bend complex shapes
Mechatronics Systems
-Manufacturing Applications-
CNC Machining
Advantages
Deliver the highest accuracies
Can create very complex shapes
Mechatronics Systems
-Manufacturing Applications-
Typical Applications
Brake-By-Wire system
Steer-By-Wire
Integrated vehicle dynamics
Camless engines
Integrated starter alternator
Automobiles
OEM Driven
Reliability
Reduced weight
Fuel economy
Manufacturing flexibility
Design freedom
Advanced safety features
Cost
Mechatronics Systems
-Transportation Applications-
Smart
Doorlock
Switchboard with
CAN Bus Gateway
Smart Window Lift-unit
CAM Bus
Smart Mirror motor-
unit pin-header
- Door System/Module-
Mechatronics Systems
-Seat System/Module-
Seat Harness Architecture showing various
smart connector interconnections solutions
Mechatronics Systems
Train Position and Velocity
constantly monitored from
main command center.
Error margin in scheduling no
more than 30 seconds
Fastest trains use magnetic
levitation

High Speed Trains
Mechatronics Systems
-Transportation Applications-
JR-Maglev
Top Speed: 574 km/h (357 mph)
Country: Japan
Transrapid
Top Speed: 550 km/h (340 mph)
Country: German
Magnetic Levitation
-Transportation Applications-
Advantages
Simple and intuitive
personal
transportation device
Systems Uses
Tilt and pressure sensors
Microcontroller
Motors
Onboard power source

Segway
Mechatronics Systems
-Smart Robotics Application-
System Can
Carry 340 lb
Run 4 mph
Climb, run, and walk
Move over rough terrain
BigDog
Advantages
Robot with rough-terrain mobility that could
carry equipment to remote location.
Mechatronics Systems
-Smart Robotics Aplications-
Robots can vacuum floors and
clean gutters so you don't have to.
Cleans Gutter
Vacuum Floors
Mechatronics Systems
-Space Exploration Application-
System Can
Collect specimens
Has automated onboard
lab for testing specimens

Advantages
Robot that can travel to other
planets and take measurements
automatically.
Mechatronics Systems
Phoenix Mars Lander's
-Medical Applications-
Prosthetics
Arms, Legs, and other body parts
can be replaced with
electromechanical ones.
Mechatronics Systems
-Medical Applications-
Used by patients with slow or
erratic heart rates. The pacemaker
will set a normal heart rate when it
sees an irregular heart rhythm.
Monitors the heart. If heart
fibrillates or stops completely it will
shock the heart at high voltage to
restore a normal heart rhythm.
Mechatronics Systems
Pace Maker
Implantable Defibrillation
-Defense Applications-
Advanced technology is making
our soldiers safer.
Some planes can now be flown
remotely.
Unmanned Aerial Vehicle
Stealth Bomber
Mechatronics Systems
-Sanitation Applications-
Advantages
Reduces spread of germs by making
device hands free
Reduces wasted materials by
controlling how much is dispensed
Systems Uses
Motion sensors
Control circuitry
Electromechanical
actuators
Independent power source

Soap Dispenser
Paper Towel Dispenser
Mechatronics Systems
-Sports Applications-
Advantages
Automatically changes
cushioning in shoe for
different running styles and
conditions for improved
comfort
Running Shoes
Mechatronics Systems
Washing Machine
Solution Power Supply
Rectifiers/Regulator
Pressure Sensor
MPX5006/MPX2010
Mechatronics Systems
-Smart Home Applications-
Smoke Detector System
Mechatronics Systems
-Smart Home Applications-
Modeling and
Simulation
Automatic
Control
Artificial
Intelligence
Mechanical
Systems
Electrical
Systems
Actuators
Sensors
Computer
Systems
D/A
A/D
+
Electromechanical Real-Time Interfacing
Information Systems
Mechatronics Systems
What is Mechatronics ?
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)
Key Elements of Mechatronics
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)
Key Elements of Mechatronics
Electrical
Systems
Computer
Systems
Information
Systems
Mechanical
Systems
MECHATRONICS
Devdas Setty, et.al., Mechatronics System Design
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)
Information Systems
An information system is combination of
Signal processing
Control Systems
numerical method
For Mechatronics system, information system concerns
with
modeling and simulation
automatic control
numerical method for optimization
Key Elements of Mechatronics
Modeling is the process of representing the behavior
of real system (physical system) by collection of
mathematical equation and/or logic.
Physical
system
model
input
output
Information Systems
-Modeling-
Key Elements of Mechatronics
Simulation is the process of solving the model and
is performed on a computer.
We need a programming language to make simulation:
Machine language: assembler
Text-based language: C, Basic, Fortran
Visual programming language: Simulink, LabVIEW,
VisSim
Information Systems
-Simulation-
Key Elements of Mechatronics
Information Systems
-Control-
Key Elements of Mechatronics
Continuous control System
The variables and parameters to be controlled are
continuous.
Topics of Teknik Pengaturan course

Discrete Control System
Variables and parameters are discrete, mostly
binary
Information Systems
-Control-
Key Elements of Mechatronics
continuous control
Information Systems
-Control-
Key Elements of Mechatronics
Controller Plant
Sensor
Desired
output
Actual
output
Error
Plant
input
+
-
Why do we need a continuous controller ?
Information Systems
-Control-Closed Loop System
Key Elements of Mechatronics
A controller is required to process the error signal to
satisfy a certain criteria such as:
Steady-state error
Transient response
Disturbance rejection
Sensitivity to parameter change in the plant
(robustness)
Information Systems
-Control-
Key Elements of Mechatronics
Discrete Control System:
Information Systems
-Control-
Key Elements of Mechatronics
Discrete Control System
Sequential Control System
Information Systems
-Control-
Key Elements of Mechatronics
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)
drill
work piece
Switch 2
Switch 1
Switch 3
Automatic drilling machine
How to control the sequential
operation of the automatic drilling ?
The aim of the sequential
control is to ensure that the
sequence of event take
place.
Information Systems
-Control-
Key Elements of Mechatronics
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)
The control system for the automatic drilling machine is
required to:
start lowering the drill when the workpiece is in position
start drilling when the drill reaches the workpiece
stop drilling when the drill produces the required depth
of the hole
retract the drill and then switch off
wait for next workpiece to be put in position before
repeating the operation.
How if there are many holes in a workpiece ?
Information Systems
-Control-
Key Elements of Mechatronics
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)
Mechanical systems are concerned with the behavior
of matter under the action of forces which cause
motions.
Fluid and thermal systems are also included in the
mechanical systems.
Mechanical Systems
Key Elements of Mechatronics
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)
Mechanical Systems
Key Elements of Mechatronics
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)
Mechanical Systems
Key Elements of Mechatronics
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)
Electrical systems are concerned with the behavior of
three fundamental quantities: charge, current and
voltage.
Electrical systems consist of :
Power system
Electronics
Electrical Systems
Key Elements of Mechatronics
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)
Power systems are designed to transmit large quantity
of electrical energy.
Power systems devices
Rotating machine (motor)
convert energy from electrical to mechanical
Generator
convert energy from mechanical to electrical
Electrical Systems
-Power-
Key Elements of Mechatronics
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)
Electronics are designed to transmit Small quantity of
electrical energy.
Electronics devices
Resistor
Capacitor
Transistor, diode
Op-amp
Electrical Systems
-Electronics-
Key Elements of Mechatronics
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)
Common electrical components of mechatronics
systems:
motor and generator
sensor and actuator
solid state devices, including computers
circuits (signal conditioning, impedance matching,
including amplifier)
Contact devices (relay, fuses, switch)
Electrical Systems
-Basic Components-
Key Elements of Mechatronics
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)
Computer systems is the study of how such circuits
should be connected together to think efficiently.
The computer systems consists of
hardware
software.
Computer Systems
Key Elements of Mechatronics
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)
For mechatronics application, computer system hardware
is restricted to computer-specific circuits and devices
including
Digital logics: flip-flops, counters, timers, triggers
microprocessor
microcontroller
personal computer (PC)
programmable logic controller (PLC)
Computer Systems
Key Elements of Mechatronics
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)