Mechatronics (2015) Unit II

Mechatronics – 302050
Lecture Notes / PPT
UNIT II
Syllabus
Block Diagram Representation
 Introduction to Mechatronic System Design; Identification of
key elements of Mechatronics systems and represent into
Block Diagram; Open and Closed loop Control System;
Concept of Transfer Function; Block Diagram & Reduction
principles; Applications of Mechatronic systems: Household,
Automotive, Industrial shop floor.
Syllabus
Block Diagram Representation
 Introduction to Mechatronic System Design; Identification of
key elements of Mechatronics systems and represent into
Block Diagram; Open and Closed loop Control System;
 Concept of Transfer Function; Block Diagram & Reduction
principles;
 Applications of Mechatronic systems: Household,
Automotive, Industrial shop floor.
Control
A Control system performs following functions
• For particular input the system output can be controlled to a desired

particular value.
• If some conditions are satisfied it can give a particular sequence of

events as output corresponding to given input
Actual Response
Desired Response
Open Loop Control
• Output is dependent on input but controlling action is totally

independent of the changes in output, is an Open Loop Control
System.
• No feedback is used, so the controller must independently determine

what signal to send to the actuator.
Control
u
Input Plant Output
Law
Plant = Mathematical model of Input Amplifier + Actuator + Physical System
Input = Reference / Desired Input or Set Point Input
Output = Measured Output
Control Law = Mathematical model of the Controller

Examples of Open Loop Control
Advantages and Dis-advantages of Open Loop
Control
Advantages:
 Simple in construction
 Low cost
 Convenient to implement when output is difficult to measure
Disadvantages:
 The controller never actually knows if the actuator did what it
was supposed to do, i.e. it is inaccurate
 Unable to sense the environmental changes or disturbances
Closed Loop Control
• Controlling action is dependent on the changes in output
+ e Control
u
Input ∑ Plant Output
Law
e = Error = Input – Output

u = Control Input
Examples of Closed Loop Control
Examples of Automatic Closed Loop Control
Advantages and Dis-advantages of Closed Loop Control
Advantages:
 Accurate, since the controller modifies and manipulates the
actuating signal such that the error in the system will be zero.
 Self-correcting
 Senses the environmental changes, and disturbances in the
system.
Disadvantages:
 Complicated to design
 Costly
 Instable, since due to feedback , system tries to correct the error.
Key Elements in Mechatronic System
Elements in Mechatronic System
Example:
Electro-Mechanical System
Response of System
0 5 10 15 20 25 30 35 40 45 50
time (sec)
0 5 10 15 20 25 30 35 40 45 50
time (sec)
0 5 10 15 20 25 30 35 40 45 50
time (sec)
0 5 10 15 20 25 30 35 40 45 50
time (sec)
0 5 10 15 20 25 30 35 40 45 50
time (sec)
Transfer Function Models
 Why TF?
 Because it is easier / better to assess some things using classical
techniques, such as gain and phase margin.
 How to determine TF?
 Derive the Governing Differential Equation
 Assume I.C=Zero and
 Take Laplace transform of output
 Take Laplace transform of input
 Transfer function = L (output) / L (input)
Translational Mechanical Example 1
F
mass/spring/dam
M system
y
k d
F
1/m 1/s 1/s
Translational Mechanical Example 1
Equation of motion (EOM)  my  dy  ky  f
Assuming I.C  0 and taking Laplace of both sides
ms y s   dsy s   kys   f s 
2
Output y s  1
T.F    2
Input f s  ms  ds  k
Block Diagram
• Block diagram is a
F
diagram of a system in M mass/spring/damper
system
y
which the principal parts or k d
functions are represented

F y
1/m 1/s 1/s
by blocks connected by
velocity
d
lines that show the k displacement
relationships of the blocks

Block Diagram
 Comparator  Subsystem is represented as a

block with an input, an output,
 Input/Reference/Output/Disturb and a transfer function
ance / Feedback Signal
 When multiple subsystems are
 Blocks to represent: interconnected, a few more
schematic elements must be
 Sensor, Actuator, Plant,
added to the block diagram
Controller, Amplifier etc (in
symbolic form / transfer  These new elements are
summing junctions and pickoff
function form)
points.
Block Diagram: Domain & Comparator
Reduction techniques
1. Combining blocks in cascade or in parallel
G1 G2 G1G2
G1
G1  G2
G2
2. Moving a summing point behind a block
G G
G
3. Moving a summing point ahead of a block
G G
1
G
4. Moving a pickoff point behind a block
G G
1
G
5. Moving a pickoff point ahead of a block
G G
G
6. Eliminating a feedback loop
𝐺
G
1 + 𝐺𝐻
H
G 𝐺
1−𝐺
H 1
7. Swap with two neighboring summing points
A B B A
Test question 1
Test question2
Example 1
Example 1
Example 2
Example 2
Example 3
Example 3
Example 4
Example 5
Example 5
Example 5
Example 5
Applications of Mechatronic System
• Household
• Refrigerator
• Washing m/c
• Microwave
• Automotive
• Power steering
• Air conditioner
• Shop floor
• Tool monitoring system
• Automated guided vehicle
• Conveyor system
• Bottle filing plant.
Electric Power Steering

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Mechatronics – 302050

Lecture Notes / PPT

A Control system performs following functions

• For particular input the system output can be controlled to a desired

• If some conditions are satisfied it can give a particular sequence of

• Output is dependent on input but controlling action is totally

• No feedback is used, so the controller must independently determine

Plant = Mathematical model of Input Amplifier + Actuator + Physical System

Input = Reference / Desired Input or Set Point Input

Output = Measured Output

Control Law = Mathematical model of the Controller

• Controlling action is dependent on the changes in output

e = Error = Input – Output

Equation of motion (EOM)  my  dy  ky  f

Assuming I.C  0 and taking Laplace of both sides

functions are represented

relationships of the blocks

 Comparator  Subsystem is represented as a

1. Combining blocks in cascade or in parallel

2. Moving a summing point behind a block

4. Moving a pickoff point behind a block

5. Moving a pickoff point ahead of a block

7. Swap with two neighboring summing points

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