Dr.

Rosbi Mamat 2013 1

FACULTY OF ELECTRICAL ENGINEERING
UNIVERSITI TEKNOLOGI MALAYSIA

MECHATRONIK SYSTEM DESIGN (SEM4333)
TUTORIAL QUESTIONS


1. Explain the benefits of mechatronics system design approach compared to the traditional
electromechanicalsystemdesignapproach.
2. Statethedifferencesbetweenthefollowingrealtimesimulations:controlprototypingandhardware
intheloopsimulation.

3. Usingtheimpedanceanalogy,findthetransferfunctionsforthefollowingcircuits:

4. ForthecircuitsinQuestion3,drawthesimulationblockdiagramsiftheonlyavailablesimulation
blocksaresummer,integrator,differentiatorandgain.
5. RepeatQuestion4,iftheonlyavailablesimulationblocksaresummer,integratorandgain.
6. Describetheimportantelementsavailableinasmartsensorandwhatarethebenefitsprovidedby
asmartsensor?
7. What is the minimum angle that can be distinguished by an absolute encoder with binary codes
of:a)3bitsdanb)8bits?
8. An incremental encoder is used to measure the speed of a motor. If N is the number of black
stripes on the optical disc and T is the period of one cycle of output signals (A&B), what is the
speed of the motor in RPM if: a) N=32, T=12ms b) N=64, T=12ms c) N=4, T=1.5saat d) N=4,
T=0.5seconds.
9. LM334 (datasheet is available on elearning) is a temperature sensor which gives 10mV output
voltageforatemperaturechangeof1Kelvin(orchangeof1celcius).Thesensorproducesoutput
voltage of 2.73V at 0 degree celcius and 3.73V at 100 degree celcius. An analogtodigital
converter with 05V input range is use to read the temperature 0100 degree celcius from the
sensor.
a) CalculatetheouputvoltageofLM334at70celcius.
b) Designasuitablesignalconditioningcircuit.

Dr. Rosbi Mamat 2013 2

10. Describe the main functions of an embedded controller in a mechatronics system. Give four
advantages and four disadvantages of using PC technology as the platform for embedded
controller.
11. Calculatetheresolutionforthefollowinga)AD7819b)MCP3028withvoltagereferencesVref=
2.5V,Vref=4.096VandVref=5.1V.WhichADC(AD7819orMCP3028)canbeusedtomeasurea
temperaturewith0.5degreeaccuracyusingtheLM334asinquestion9above?

12. DesignPIandPIDcontrollersforahydrauliccontrolsystemwithperformancerequirements:ess
= 0 and PO < 10% using: a) root locus and b) tuning with IMC formulae. Hence, find the
controller transfer functions
1
( )
c
G z

in the form of backshift operator

1
z

. Select a suitable
samplingperiod.
2
1
( )
( 2 2)
p
G s
s s

13. Design PI and PID controllers for the following system with performance requirements: ess = 0
and PO < 5% using root locus sketching and using CAD. Hence, find the controller transfer
functions
1
( )
c
G z

intheformofbackshiftoperator
1
z

.Selectasuitablesamplingperiod.
1
( )
(0.25 1)(0.1 1)
p
G s
s s s

14. Given following controller transfer functions
1
( )
c
G z

, find difference equations expressing the

algorithm for the controllers.
a)
1
1 1 2
1 2
1 2
( )
1
c
b b z
G z
a z a z

b)
1
1
1
2.4(1 0.6 )
( )
1 0.05
c
z
G z
z

c)
1 2
1
1 2
2
( )
(1 )
c
z z
G z
z

15. Figure below shows the time responses for three plants/processes with step inputs. Determine
suitable parameters for the PI or PID controllers for the three processes. What are the suitable
samplingperiodsfordiscretizingthecontrollers.
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
1.1
1.2
1.3
1.4
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