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