KAPSO KWASSEU ARMEL

UBa19E3060
FONDAMENTALS OF MECHATRONICS SYSTEMS

1- Mechatronics
Mechatronics is a multidisciplinary field that refers to the skill sets needed in the
contemporary, advanced automated manufacturing industry. At the intersection of
mechanics, electronics, and computing, mechatronics specialists create simpler, smarter
systems. Mechatronics is an essential foundation for the expected growth in automation
and manufacturing.

2- Mechatronics is The synergistic combination of precision mechanical engineering,

electronic control and systems thinking in the design of products and manufacturing
Four mechatronics system
- Numerical control
- variable speed drives
- automated manufacturing systems
- Computer numerical control (CNC)

3- The elements of a measuring system

- Transducer
- Signal processor
- Recorder.

4- the elements of a measuring system ENUMERATED AND briefly explained with an

example.
- Transducer: is a sensing deoice that conoerts a physical input into output, usually
voltage.
- Signal: processor performs filtering and amplification functions.
- Recorder: records or displays the output of signnl processor. the elements of a
measuring system
- Example Digial thermometer
5- Functions of instruments and measurement systems.
- Indicating function
- Recording function
- Controlling function

6- Application of measurement systems

- Monitoring process
- Control of processes and operations
- Feedback control system
- Experimental engineering analysis

7- The main two distinct categories of instruments and measurement characteristics

- Static characteristics
- Dynamic characteristics

8- Definition of a system
A system is an arrangement of physical components connected or related in such a
manner as to form and / or act its entire unit.

9- A control system is an arrangement of physical components connected or related in

such a
manner as to command, direct or regulate itself or another system.

10- Element of a control system

- - System error: is the difference between the actual value and ideal value
- Controlled variable: is the quantity or condition of the controlled system which can be
directly measured and controlled.
- Indirectly controlled variable: is the quantity or condition related to controlled
variable, but cannot be directly measured
- Command: is the input which can be independently varied
- Reference input: is A standard signal used for comparison in the close-loop system.
- Actuating signal: is the difference between the feedback signal and reference signal
- Disturbance: is Any signal other than the reference which affects the system
performance

11- four examples of control systems

- Steering control of automobile.
- Print wheel control system.
- Industrial sewing machine.
- Sun-tracking control of solar collectors.

12- Control systems are classified into two basic types :

- Open-loop control systems (Unmonitored or non-feedback control systems)
- Closed-loop control systems (Monitored or feedback control systems).

13- An Open "loop control" system is one in which the control action is independent of the
desired output. The actuating signal depends only on the input command and output has
no control over it

14- The element of an open loop control

- Controller
- Controlled Process.

15- two examples of 'open-loop' control system briefly explained

- Idle-speed control system: in an automobile they have two main roles: To eliminate or
minimize the speed drop when engine loading is applied and to maintain the engine
speed at a desired value'
- Print wheel control system in the case of an electronic typewriter for example, when a
reference command input is given, the signal is represented as a step function. Since
the electric windings of the motor have inductance and the mechanical load has inertia,
the printwheel cannot respond to the input instantaneously.

16- Advantages of “open-loop” control systems

- Simple construction.
- Easy maintenance.
- Less costly than a closed-loop system.
- No stability problem"
- Convenient when output is difficult to measure or measuring the output precisely
Disadvantages
- Since the system is affected by internal and external disturbances, the output may differ
from the desired value.
- For getting accurate results, this system needs frequent and careful calibrations.
- Any change in system component cannot be taken care of automatically.
- Presence of non-linearities causes malfunctioning.

17- A closed-loop system is one in which control action is somehow dependent on the
output. In this case the controlled output is fed back through a feedback element and
compared with the reference input.

18- Definition of feedback

Feedback is that property of a closed-loop system, which permits the output or some
other controlled variable of the system, to be compared with the input to the system, so
that the appropriate control action may be formed as some function of the output and
input. A feedback is said to exist in system when a closed sequence of cause and effect
relations exist between systems a variables.
19- The Characteristics of feedback
- Increased bandwidth
- Increased accuracy.
- Tendency towards oscillation or instability.
- Reduced effects or non-linearities and distortion.
- Reduced sensitivity of the ratio of output to input to variations in system characteristics.

20- A 'closed-loop' control system briefly explained with an example

The closed-loop control system can be defined as the output of the system that depends on
the input of the system. This control system has one or more feedback loops between its
input & output. This system provides the required output by evaluating its input. This kind
of system produces the error signal and it is the main disparity between the output and input
of the system.

Example The best example of the closed-loop control system is AC or air conditioner.
The AC controls the temperature by evaluating it with the nearby temperature. The
evaluation of temperature can be done through the thermostat. Once the air conditioner
gives the error signal is the main difference between the room and the surrounding
temperature. So the thermostat will control the compressor.

21- Advantages and disadvantages of a closed loop control

Advantages
- More accurate comparatively.
- Usually performs accurately even in the presence of non-linearities'
- Change in system component is automatically taken care of'
- The use of feedback system response is relatively insensitive to external disturbances
and internal variations in system parameters
Disadvantages
- Generally complicated in construction'
- Generally higher in cost and power'
- May become unstable at times.

22- An 'automatic control system a closed-loop control system operating without human
operator
Advantages
- Increased output
 - Economy in operating cost (since continuous employment of human operator is
- not required).
- Suitability and desirability in the complex and fast acting systems which are beyond
the physical abilities of a man
- Improvement in the quality of the products
- Reduced effect of non-linearities and distortions
Disadvantages
Automatic control system has a tendency to overcorrect errors which may result in oscillations
of constant or changing amplitude.

23- A block diagram is a diagram of a system in which the principal parts or functions are
represented by blocks connected by lines that show the relationships of the blocks. They
are heavily used in engineering in hardware design, electronic design, software design,
and process flow diagrams.

24- A singal flou graph is a pictorial representation of the simultaneous equations

describing system.

25- Stability is the ability that has a system to have its output under control
A system is said to be stable, if its output is under control. Otherwise, it is said to be
unstable. A stable system produces a bounded output for a given bounded input.

26- Industrial controllers are classified according to their control action.

27- pneumatic control systems are devices use compressed air as a method of control for
HVAC systems. The compressed air is carried via copper and plastic tubes from a
controller to a control device, usually a damper or valve actuator. This control method
relies on sensors and thermostats that bleed or retain the line pressure from the sensor
to the control device and the actuator. Each sensor responds to changes in temperature,
humidity, and static pressure to provide feedback in a control loop to open or close the
actuator to meet the control set point. The actuators contain diaphragms and spring to
function in sequence with the control signal. This system uses compressed air as the
communication method. Each thermostat in a building with a pneumatic control system
has one or more air lines connected to it from the main source of compressed air and to
some type of final device such as a valve.
Advantages
- Simple construction and easy maintenance.
- Relatively high power amplification for operating the final control elements.
- Relatively inexpensive power system.
- No return pipes are required when air is used.
- Insensitive to temperature changes.
- Fire-and explosion-proof.
- The normal operating pressure of pneumatic system is very much lower than that of
hydraulic systems.
Disadvantages
- Output powers are considerably less (than those of hydraulic systems).
- Accuracy of pneumatic actuators is poor at low velocities.
- Slow response of final control elements, and transmission lag.
- Operation difficult under freezing conditions.
- Lubrication of the mating parts is difficult

28- Hydraulic systems A hydraulic system circulates the same fluid repeatedly from a fixed
reservoir that is part of the prime mover. The fluid is an almost non-compressible liquid,
so the actuators it drives can be controlled to very accurate positions, speeds, or forces.
Advantages
- Because of low leakages in hydraulic actuators, speed drop when loads are applied is
small.
- Hydraulic actuators have a higher speed of response with fast starts, stops, and speed
reversals.
- Availability of both linear and rotary actuators gives flexibility in design.
- Simplicity of actuator system.
- Operation of hydraulic actuators under continuous, intermittent, reversing and stalled
conditions without damage is possible.
- Large forces or torques can be developed by the comparatively small sized hydraulic
actuators.
- Long life due to self lubricating properties of the hydraulic liquids.

Disadvantages
- In order to prevent the leakage of hydraulic fluid, the proper seals and connections are
needed.
- Unless fire-resistant fluids are used, fire and explosion hazards exist.
- For keeping the fluid clean and pure careful maintenance of the system is required.
- As a result of the non-linear and other complex characteristics involved, the design of
sophisticated hydraulic systems is quite complicated.
- Contaminated oil may cause failure in the proper functioning of a hydraulic system.

29- A microcontroller is a single chip microcomputer made through VLSI fabrication. A

microcontroller also called an embedded controller because the microcontroller and its
support circuits are often built into, or embedded in, the devices they control.
30- Description of a microcontroller through diagram: