week_1 mechatronics

8/10/2019 Week_1 Mechatronics

1/19

Background -

Remzi Artar

Academic

Undergraduate

Mechanical

Enginering

/ ITU

Master of

Science

-

Control

Engineering

/ Rice

University

, Houston

-

USA

Ph.D

.

- Mechanical

Engineering / ITU

Industrial

Arelik

Research

& Development

Dept

. Ford Otosan

Product Development

Dept

.

National

Instruments

Applications

Engineering

Dept

.

Figes A..

Mechatronic

Team Manager

Research

Interests

Mechatronics

Systems

, Data

acquisition

, Motion Control

Systems

, ImageProcessing

Contact

:

[email protected]


2/19

WHAT IS MECHATRONICS?

Original definition of Mechatronics (by the Yasakawa Electric

Company);

The word, Mechatronics, is composed of mecha from

mechanism and the tronics from electronics. In other words,technologies and developed products will be incorporating

electronics more and more into mechanisms, intimately and

organically, and making it impossible to tell where one ends

and the other begins


3/19


Another definition;

The synergistic integration of mechanical engineering, with

electronics and intelligent computer control in the design and

manufacturing of industrial products and processes.

Finally, from the Internets free encyclopedia, Wikipedia,

Mechatronics is centered on mechanics, electronics and

computing which, combined, make possible the generation of

simpler, more economical, reliable and versatile systems.


4/19


All these definitions agree

that mechatronics is an

interdisciplinary field, in

which the following

disciplines act together

Mechanical system s(mechanical elements,

machines, precision

mechanics)

Elect ronic systems(microelectronics, power electronics, sensor and actuator

technology) and

Informat ion techno logy(systems theory, automation, software engineering,

artificial intelligence)


5/19


Mechatronics

Modeling Signals & Systems

Computers&

Logic SystemsSensors &Actuators

Software&

Data Acquisition

The Key Elements of Mechatronics


6/19



7/19



8/19



9/19

MECHATRONIC DESIGN APPROACH


10/19


The computer aided development of mechatronic system comprises:

Constructive specification using CAD and CAE tools

Model building

Transformation into computer codes for system simulation

Programming and implementation of the final mechatronic software

Modeling Procedure

theoretical modelingbased on physical principles

experimental modeling (identification) with measured input and

output variables.


11/19

Theoretical Modeling

Based on fundamental physical laws that describes the behavior of the system

(Newtons principles for motion, Ohms law for electricity)

If you can use an ordinary differential equation to describe a physical

system, the resulting model is a lumped parameter model.

Experimental Modeling - System Identification

Direct estimation of the impulse or the frequency response of the system

No assumptions made about the system other than that it is linear



12/19


mf(t)

y(t)

c

)()(2

2

tydt

dmtf

Mass

k

Spring Damper

f(t) f(t)

)()( tkytf )()( tydt

dctf

y(t)y(t)



13/19

)()()()(2

2

tutkytydt

d

ctydt

d

m

kcsmssU

sYsG

2

1

)(

)()(

k c

m

y(t)

u(t)

Laplace transform (if the initial conditions are zero)

2

2

2

sdtds

dtd

Transfer Function




14/19


The process of estimating a modelfor a dynamic system based onmeasured data

Known input

data Correspondingoutput data

System

2.405.1)(

2

ss

ssG

Impulse

Step

White noise

Experimental Modeling


15/19


Simulation Methods

Simulation without (hard) time limitation

Real-time simulation

Simulation faster than real-time


16/19


Classification of real-time simulation.

1. The real process can be operated together with the simulated control by using hardware

other than the final hardware. This is also called control prototyping.

2. The simulated process can be operated with the real control hardware, which is called

hardware-in- the-loop simulation.

3. The simulated process is run with the simulated control in real time. This may be required if

the final hardware is not available or if a design step before the hardware-in-the-loopsimulation is considered.


17/19

Design and testing of the control hardware and software without operating a

real process (moving the process field into the laboratory)

Testing of the control hardware and software under extreme environmental

conditions in the laboratory (e.g., high/low temperature, high accelerations andmechanical shocks, aggressive media, electro-magnetic compatibility)

Testing of the effects of faults and failures of actuators, sensors, and

computers on the overall system

Operating and testing of extreme and dangerous operating conditions

Reproducible experiments, frequently repeatable

Easy operation with different manmachine interfaces (cockpit-design andtraining of operators)

Saving of cost and development time


The advantages of the HIL simulation are generally:


18/19

Control Prototyping - Hardware


19/19

MATLAB/SIMULINK TI Code Composer Studio

Real-Time Workshop

Developed Controller codes in SIMULINK Optimization of the generated C codes

F28335 Floating-point DSP

D

ownloadingon

U

SBport

Interrupts for digital

data transfer

MEDEL AC IM Drives

MEDEL DAQ Platform

Interrupts for

bufffered DAQ

Control Prototyping - Software

week_1 mechatronics

Documents