INTRODUCTION TO MECHATRONIC SYSTEMS

[BEKM 2342]

Lecture #1
Introduction to Mechatronics System
Nursabillilah Mohd Ali
Department of Mechatronics
Faculty of Electrical Engineering

Faculty of Electrical Engineering,

Universiti Teknikal Malaysia Melaka (UTeM)

Teaching Team
Lecturer

Mrs Nursabillilah Mohd Ali, Room: B/1-10

E-mail : nursabillilah@utem.edu.my

Course Website

http://ulearn.utem.edu.my/

You may download:

Teaching Plan
Lecture slides
Project information
Assignment
etc

Faculty of Electrical Engineering,

Universiti Teknikal Malaysia Melaka (UTeM)

Course Objectives
Upon completing this subject, the student
should be able to:
Explain basic concept of mechatronic systems.
Explain the working principles mechatronics
systems.
Analyze selection and integration of mechatronics
components.
Identify and analyse basic mechatronics systems

Textbook
[1]

[2]
[3]

[4]
[5]

Bolton, W., Mechatronics: Electronic Control

Systems in Mechanical and Electrical Engineering,
4th ed., Prentice-Hall, 2008.
Saeed B. Niku: Introduction to Robotics, Prentice
Hall, 2011
Medriam, J.L: Engineering Mechanics: Static, 5th
edition, John Wiley & Sons.
Devdas, S., Richard, A.K., Mechatronics System
Designs, PWS, 1997.
Auslander, D.M., Mechatronics: Mechanical System
Interfacing, 1996.

Faculty of Electrical Engineering,

Universiti Teknikal Malaysia Melaka (UTeM)

Assessment
Subject Implementations
Lectures :3 hours per week for 14 weeks (Total = 42 hours)
Tutorials : 1 hours per week for 4-6 weeks (Total = 4-6 hours)
Subject Evaluations
Assessment*

Marks

Quiz

10%

Test 1

10%

Test 2

15%

Case Study / Mini Project

15%

Final Examination

50%

Total

100%

Faculty of Electrical Engineering,

Universiti Teknikal Malaysia Melaka (UTeM)

Tentative Course Outline

1) Introduction to Mechatronics System
2) Sensors and Transducers
- Introduction, performance terminology, static and dynamic characteristics,
Example of relevant sensors
3) Sensors and Transducers
- Fluid pressure sensors, liquid flow & level sensors, temperature sensors,
selection of sensors and inputting data by switches.
4) Signal Conditioning
- Introduction, operational amplifier, protection, filtering, wheatstone bridge,
digital signal and PWM
5) Data Presentation Systems
6) Pneumatic and Hydraulic Actuation Systems
7) Mechanical Actuation Systems
8) Electrical Actuation Systems
9) Basic System Models
10) System Models
11) Dynamic Responses of Systems
12) Brief description of Mechatronics System Related Topics

Faculty of Electrical Engineering,

Universiti Teknikal Malaysia Melaka (UTeM)

What I Expect from You

Lectures
Attend to the lecture
Do not talk about your love life or answer your mobile
phone
Ask (sensible) questions as much as you like
No sleeping or working on other homework

Homework/Project
Do it by yourself
Dont be late
Take the initiative and learn something !
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)

What is Mechatronics ?
The technical term, Mechatronics, was coined by
Mr. Tetsuro Mori, in 1969 when he worked for
Yaskawa Electric Corporation in Kitakyushu in
order to propose the new technology to produce
new machine tools by integrating machines and
electronics.

MECHA + TRONICS
mechanical
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)

electronics

What is Mechatronics ?
Definitions of Mechatronics
Integration of microprocessor control system, electrical
systems and mechanical system"
(Bolton, Mechatronics)
The synergistic combination of precision mechanical
engineering, electronic control and systems thinking
in the design of products and manufacturing
processes"
(Journal of Mechatronics)
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)

What is Mechatronics ?
Definitions of Mechatronics
The interdisciplinary field of engineering dealing with the
design of products whose function relies on the
synergistic integration of mechanical and electronic
components coordinated by a control architecture.
(Alciatore, D.G. and Histand, M.B.)
the synergistic use of precision engineering, control
theory, computer science, and sensor and actuator
technology to design improved products and
processes
(ME Magazine)
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)

What is Mechatronics ?

Faculty of Electrical Engineering,

Universiti Teknikal Malaysia Melaka (UTeM)

Mechatronics

The synergistic combination of mechanical, electrical,

and computer engineering
Emphasis on integrated product design
Optimal combination of appropriate technologies

Mechatronics Systems
Computers
Cars
Tools

Stealth Bomber

Consumer
Electronics

High Speed Trains

MEMS

Micro to Macro
Applications

Mechatronics Systems
-Manufacturing ApplicationsMicro Factory
Desktop sized Factory
Build small parts with a small
factory
Greatly reduces space, energy,
and materials

Micro Factory Drilling Unit

Mechatronics Systems
-Transportation ApplicationsAutomobiles
Typical Applications
Brake-By-Wire system
Steer-By-Wire
Integrated vehicle dynamics
Camless engines
Integrated starter alternator

OEM Driven
Reliability
Reduced weight
Fuel economy
Manufacturing flexibility
Design freedom
Advanced safety features
Cost

Mechatronics Systems
- Door System/Module-

Smart Mirror motorunit pin-header

Smart
Doorlock

CAM Bus

Smart Window Lift-unit

Switchboard with
CAN Bus Gateway

Mechatronics Systems
-Smart Robotics AplicationsRobots can vacuum floors and
clean gutters so you don't have to.

Cleans Gutter

Vacuum Floors

Mechatronics Systems
-Smart Home ApplicationsSolution Power Supply
Rectifiers/Regulator
Pressure Sensor
MPX5006/MPX2010

Washing Machine

What is Mechatronics ?

Information Systems
Modeling and
Simulation
Automatic
Control
Artificial
Intelligence

Electromechanical

Real-Time Interfacing
D/A

Actuators

Mechanical
Systems

Electrical
Systems
Sensors

Mechatronics Systems

Faculty of Electrical Engineering,

Universiti Teknikal Malaysia Melaka (UTeM)

Computer
Systems
A/D

Key Elements of Mechatronics

Faculty of Electrical Engineering,

Universiti Teknikal Malaysia Melaka (UTeM)

Key Elements of Mechatronics

Mechanical
Systems

Information
Systems
MECHATRONICS

Computer
Systems

Electrical
Systems

Devdas Setty, et.al., Mechatronics System Design

Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)

Key Elements of Mechatronics

Information Systems
An information system is combination of
Signal processing
Control Systems
numerical method
For Mechatronics system, information system concerns
with
modeling and simulation
automatic control
numerical method for optimization

Key Elements of Mechatronics

Information Systems
-ModelingModeling is the process of representing the behavior
of real system (physical system) by collection of
mathematical equation and/or logic.

input

Physical
system
model

output

Key Elements of Mechatronics

Information Systems
-SimulationSimulation is the process of solving the model and
is performed on a computer.
We need a programming language to make simulation:
Machine language: assembler
Text-based language: C, Basic, Fortran
Visual programming language: Simulink, LabVIEW,
VisSim

Key Elements of Mechatronics

Information Systems
-Control-

Key Elements of Mechatronics

Information Systems
-Control Continuous control System
The variables and parameters to be controlled are
continuous.
Topics of Teknik Pengaturan course
Discrete Control System
Variables and parameters are discrete, mostly
binary

Key Elements of Mechatronics

Information Systems
-Control-

continuous control

Key Elements of Mechatronics

Desired
output
+-

Information Systems
-Control-Closed Loop System
Plant
Error
input
Controller
Plant

Actual
output

Sensor
Why do we need a continuous controller ?

Key Elements of Mechatronics

Information Systems
-ControlA controller is required to process the error signal to
satisfy a certain criteria such as:
Steady-state error
Transient response
Disturbance rejection
Sensitivity to parameter change in the plant
(robustness)

Key Elements of Mechatronics

Information Systems
-ControlDiscrete Control System:

Key Elements of Mechatronics

Information Systems
-ControlDiscrete Control System

Sequential Control System

Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)

Key Elements of Mechatronics

Information Systems
-ControlHow to control the sequential
operation of the automatic drilling ?
drill
work piece

Switch 2
Switch 3
Switch 1

Automatic drilling machine

Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)

The aim of the sequential

control is to ensure that the
sequence of event take
place.

Key Elements of Mechatronics

Information Systems
-ControlThe control system for the automatic drilling machine is
required to:
start lowering the drill when the workpiece is in position
start drilling when the drill reaches the workpiece
stop drilling when the drill produces the required depth
of the hole
retract the drill and then switch off
wait for next workpiece to be put in position before
repeating the operation.
How if there are many holes in a workpiece ?
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)

Key Elements of Mechatronics

Mechanical Systems

Mechanical systems are concerned with the behavior

of matter under the action of forces which cause
motions.
Fluid and thermal systems are also included in the
mechanical systems.

Faculty of Electrical Engineering,

Universiti Teknikal Malaysia Melaka (UTeM)

Key Elements of Mechatronics

Mechanical Systems

Faculty of Electrical Engineering,

Universiti Teknikal Malaysia Melaka (UTeM)

Key Elements of Mechatronics

Mechanical Systems

Faculty of Electrical Engineering,

Universiti Teknikal Malaysia Melaka (UTeM)

Key Elements of Mechatronics

Electrical Systems
Electrical systems are concerned with the behavior of
three fundamental quantities: charge, current and
voltage.
Electrical systems consist of :
Power system
Electronics

Faculty of Electrical Engineering,

Universiti Teknikal Malaysia Melaka (UTeM)

Key Elements of Mechatronics

Electrical Systems
-PowerPower systems are designed to transmit large quantity
of electrical energy.
Power systems devices
Rotating machine (motor)
convert energy from electrical to mechanical
Generator
convert energy from mechanical to electrical
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)

Key Elements of Mechatronics

Electrical Systems
-ElectronicsElectronics are designed to transmit Small quantity of
electrical energy.
Electronics devices
Resistor
Capacitor
Transistor, diode
Op-amp
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)

Key Elements of Mechatronics

Electrical Systems
-Basic ComponentsCommon electrical components of mechatronics
systems:
motor and generator
sensor and actuator
solid state devices, including computers
circuits (signal conditioning, impedance matching,
including amplifier)
Contact devices (relay, fuses, switch)
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka (UTeM)

Key Elements of Mechatronics

Computer Systems
Computer systems is the study of how such circuits
should be connected together to think efficiently.

The computer systems consists of

hardware
software.

Faculty of Electrical Engineering,

Universiti Teknikal Malaysia Melaka (UTeM)

Key Elements of Mechatronics

Computer Systems
For mechatronics application, computer system hardware
is restricted to computer-specific circuits and devices
including
Digital logics: flip-flops, counters, timers, triggers
microprocessor
microcontroller
personal computer (PC)
programmable logic controller (PLC)

Faculty of Electrical Engineering,

Universiti Teknikal Malaysia Melaka (UTeM)