Principles of Mechatronics
Bim Prasad Shrestha, PhD.
Professor
Department of Mechanical Engineering
Kathmandu University
Mechatronics
• Synergistic combination of Mechanical, electronic, control, systems
design engineering, and computer engineering to create useful
products
• A step beyond MECHANIZATION
• Automata control industrial machinery and processes, reducing the
need for human intervention control
Coined by Mr. Tetsuro Mori (Toets) and Er. Jiveshwar Sharma (Jove), the senior
engineers of the Japan and United States company Yasokawa, in 1969.
Why Mechatronics???
⚫ Develop better products, faster and more competitively
⚫ Engineers with Mechatronics are actively sought by industry
.''.. anybody who can ``bridge the gap''
between mechanical and electrical engineering
will have a huge advantage...'' in the job
market (The Wall Street Journal, New York, NY, May
2, 1994)
The Key to Many Doors or Door
Mechanical M
Engineer E
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A
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Electronics/com R
puter O
Engineer N
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An Engineer S
Engineer
Knock “Complete Engineer Door”
Inside Mechatronics Outline
⚫ Mathematics
⚫ Mechanics
⚫ Machine component design
⚫ Mechanical design
⚫ Thermodynamics
⚫ Circuits and systems
⚫ Electronics and communications
⚫ Control theory
⚫ Programming
⚫ Digital signal processing
⚫ Power engineering
⚫ Robotics
Inside Mechatronics
Characteristics
• Microprocessor
Typical
• Electro-mechanical sensors
Mechatronic
• Electro-mechanical
system actuators
Integrated • Synergistic integration
design • At the conception phase
System Engineering
Mechatronics utilizes system engineering process
Electromechanical actuators
Devices that pulls, pushes, lifts and drags job by utilizing pressurized
energy of fluids ( air, water).
Eg. Lifter, Crane, Dozer
Can be - Pneumatic
- Hydraulic
Electromechanical actuators: car power everything
Sensors
Sensors - A device that produces an output signal
for the purpose of sensing a physical phenomenon.
Sensors are also referred as transducers.
•It is a device that converts a signal from one physical
form to corresponding signal that has a different form.
•Quantities at input level are different from output level.
Generally the output is in the form of electrical signal.
•Sensors are used for measuring and recording a quantity.
The measured quantity can be just recorded or further
processed for controlling a system
Sensors Contd…..
Type of sensors : Analog, Digital, Active, Passive
Analog : Output is continuous, output is function of input. Requires ADC for
interfacing.
Digital : The output is in form of digital signal. Can be directly connected to
computer.
I2C, PWM, serial, parallel etc.
Active sensors : Need separate power source to obtain the output.
Passive sensors : These are self generating, produces electrical signal
when subjected to sensed quantity. Piezoelectric, thermoelectric,
radioactive etc.
Eg.
- Opto-sensor, Displacement, Color, Weight, Odour ,Temperature, Humidity
Signal and Systems
Signal amplification is first used in telecom systems (telephone) Analog
vacuum tube amplifier technology
USES
•Electronic systems technology
•Large telecommunications
market
• Military applications
• For Useful properties that
requires large gain feedback :
i.e. linearization, error
insensitivity
Importance: Feedback Amplifier
Communication
Transmits information using signals
⚫ Digital system used in
tracking the phase and
frequency of the carrier
component of an
incoming signal FM
(Demodulator)
⚫ Utilizes Feedback system
control
handle
Control
•Control dynamical
systems
•Implementation of
digital adaptive control
•Analyze optimal control
techniques
Control System Application
⚫ Military applications- Gun pointing, missile range controller
⚫ Auto piloting
⚫ Robotics
– lab automation
– manufacturing plant robots (e.g., automotive)
– semiconductors
⚫ Automotive
– Power train
– Suspension, traction, braking, steering
⚫ Industrial automation and process control
– Process industries: refineries, pulp and paper, chemical
– Semiconductor manufacturing processes
– Home and buildings
Control computing
Mechatronics also deals with practically important issues of
control computing
⚫CAD tools, such as Matlab/Simulink, allow focusing on
algorithm design.
⚫ Automated Implementation
• Past: control was done by dedicated and highly specialized
experts. Still the case for some very advanced systems in
aerospace, military, automotive, etc.
• Present: control and signal-processing technology are
standard technologies associated with computing.
• Embedded systems design
Design
Design Establishes and define solutions to and
pertinent structures for problem not solved before
or new solutions to problems which have
previously been solved in different way.
Intelligence
•Artificial Brain
-Training
-Testing
-Validation
Intelligence is created using logic,
computer controlled or programmed
embedded chip as in robot.
Eg. Robot used for typing
Controlled conveyer system
Modeling
• A conceptual,
mathematical, or physical
tool to assist an engineer
for decision making
A model is an abstraction of Reality
• Mathematical Model
Modeling
Mechatronic design is a state-
of-the-art that lead-edge in
simulation and analysis that
can build extensive model,
industry standard language
support and powerful
modeling capabilities.
Simulation
TO SIMULATE is “To design , to attain the
essence or without the reality”
When To use Simulation?
Can Problem be solved analytically satisfying the
study objective? YES Do So
No
Is it Amenable To Simulation? No search
For another solution
Yes
USE SIMULATION
Prototype
Examples
⚫ Some examples
• M551 Sheridan
• ¾ Ton Dodge Cummins Diesel
• Adaptive farming using satellite imaging and
ground sensors
M551 Sheridan
⚫ Airborne Assault – Armored
Reconnaissance Vehicle
• 17T, AL armor
• 152mm Gun/Launcher
⚫ Design Team
• Anniston AD: Conventional
• Detroit: Automotive
• Redstone AR: Missile system
⚫ Problem
• Recoil caused erratic missile
flight > 800m
• Added conventional recoil
caused reliability problems
⚫ Result: 1500+ built, scrapped
after 10 years
2500 Dodge Cummins Diesel
⚫ Engine
• Cummins diesel w/
electronic fuel metering
• Built-in diagnostics
• POWER
⚫ Body
• Integrated sensor suite
• Built-in diagnostics
• Performance monitoring
Adaptive farming using satellite imaging technique and ground sensors
Image processing
Satellite Imagery
Land Preparation
Management of Agri
machinery
Crop Protection Fertilization
Crop Harvesting
Work hard,
Think soft...
Thank You
For
Your Kind Attention
Any
Questions?
