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The Mechatronics Design Lab Course at The University Of: Calgary

The document summarizes a mechatronics design lab course at the University of Calgary. It discusses key concepts in mechatronics like integration of mechanics, electronics, computation and control. It outlines topics covered in the course like filter design, sampled-data systems, mechanical interfacing, feedback control design and limitations. Finally, it discusses potential applications of mechatronics and examples of student final projects that applied concepts to systems like motors, thermal processes and electronics.

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guna
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49 views

The Mechatronics Design Lab Course at The University Of: Calgary

The document summarizes a mechatronics design lab course at the University of Calgary. It discusses key concepts in mechatronics like integration of mechanics, electronics, computation and control. It outlines topics covered in the course like filter design, sampled-data systems, mechanical interfacing, feedback control design and limitations. Finally, it discusses potential applications of mechatronics and examples of student final projects that applied concepts to systems like motors, thermal processes and electronics.

Uploaded by

guna
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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The Mechatronics Design Lab

Course at the University of


Calgary

Presented June 2, 2003


Mechatronics Systems Design
• What is mechatronics?
• What have we learned?
• What can I do with this?
Mechatronics
• Some Definitions:
– Synergistic integration of mechanics,
electronics, computation and control.

– Control of power flow in electro-mechanical


systems

– Complex decision making in physical systems


Mechatronics
• Complex decision making in physical
systems
– Control

– Power and information flow

– Implies higher complexity than pure


mechanical systems possible
What have we learned?
• Filter design and analysis

• Sampled-data systems behaviour

• Mechanical systems interfacing

• Feedback control design and limitations


Filters
• Analog and digital

• Design for signal attenuation and


amplification

• Characteristics and behaviour


Filters
• Choice of design:
– Mechanical components

– Analog circuits

– Digital electronics

– Software
Sampled-data systems
• Sampling process
• Signal aliasing
• Sample rates
• Holding process
Sampled-data systems
• Limits on sampling rates:

– High –> hardware limits

– Low –> replication of signal limits


Mechanical Systems
• Actuators and sensors
• Data acquisition and control (DAQ or
DAC)
• Software
• Hardware
Actuators
• Motors
– Field and series wound

– AC and DC

– Stepper

– PWM
Actuators
• Valves
• Pumps
• Heaters
• Smart materials
Sensors
• Voltage
• Displacement
– potentiometers
• Temperature
– Thermocouple
– Thermistor
– RTD
– Hot wire anemometer
Sensors
• Pressure
– Capacitive
– Strain gauge
• Stress
– Strain gauge
• Acceleration and velocity
– Accelerometer and tachometer
Sensors
• Optical encoders
– Decoding
– Absolute and relative
– Resolution
Data acquisition and control
• Software and interface
• Sampling rates
– Continuous
– Discrete
• Filtering
• Calibration
Feedback Control
• PID
– Continuous versus discrete
– Steady state error
– Lead/lag filters and PID
– P, PI, PD or PID design choice
– Anti-windup
Feedback Control
• Lead compensation
– Stability margin: gain and phase margins

• Q-parameterization
– All internally stabilizing controllers

• Actuator saturation
Feedback Control
• State space systems
– State feedback
– Linear quadratic optimal control
– Choice of weighting parameters

• State estimators
– Linear quadratic estimators
What can I do with this?
• We have examined most of the sub-stages
in a feedback control loop:
– Actuators
– dynamics system
– sensors
– controllers
– software and user interface
– hardware and computer systems interface
What can I do with this?
• We have applied this to as variety of
mechanical systems:
– Motors
– Motors plus: ball and beam, gantry crane
– Thermal systems
– Electronics
Student’s Final Projects
• State estimation of inverted pendulum system
• Optimal controller for inverted pendulum system
• Regenerative braking system model using
Simulink and State Flow
• Actuator saturation in control methods
• System identification of a flexible link using
frequency response techniques
What I learned
• Advanced control theories and their
applications
• Experience with open ended problems in
control
• Exposure to a laboratory setting, useful for
students exploring the idea of grad studies
• Extensive use of the MatLAB and Simulink
computing environments
Key points
• Some important ideas that you can use:
– Software and programming are key
• Sampling
• information flow
• Dynamic system details
– Reconfigurability via software portability leads
to economic advantage
– Design choices are at
mechanical/electronic/software level

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