UNIT-1 INTRODUCTION

INTRODUCTION TO MECHATRONICS:-
 Mechatronics is a word originated in japan in 1980’s to denote the
combination of technologies which go together to produce industrial robots.
 The word mechatronics is composed of “Mecha” from mechanism and
“Tronics” from electronics.
 According to mechatronics from UK a formal definition of mechatronics is
“the synergistic integration of mechanics and mechanical engineering,
Electronics, Computer technology and IT to produce or enhance products and
systems”.
 W.Bolton defines mechatronics as “A mechatronics system is not just a
marriage of electrical and mechanical system and is more than just a control
system; it is a complete integration of all of them.
GRAPHICAL REPRESENTATION OF MECHATRONICS:-
ELEMENTS OF MECHATRONICS SYSTEM:-

ACTUATORS AND SENSORS:-

 Comes under mechanical systems.
 Actuators produce motion.
 Sensors detect the state of the system parameters, inputs and outputs.
SIGNALS AND CONDITIONING:-
INPUT:- Receive the input signals from system and send to the control circuits.
OUTPUT:- Signals from system are sent to Output/Display devices.
DIGITAL LOGIC SYSTEMS:-
 Controls overall system operation.
 Various DLS are Microprocessor, PLC’s, Sequencing and Timing Controls &
Control Algorithm.
SOFTWARE AND DATA ACQUISTION SYSTEM:-
 Data acquisition system acquires the output signals from sensors in the form of
voltage, frequency, resistance etc.
  Software used to control the acquisition of data through DAC board.
SYSTEM:-
 Group of physical components connected or related in such a manner as to
form an entire unit for preparing a specific task.

MEASUREMENT SYSTEM:-
 Precise measurement and display recording of physical, chemical, mechanical
& electrical.
BASIC ELEMENTS OF THE MEASUREMENT SYSTEM:-

SENSOR OR TRANSDUCER:-
 Converts a physical quantity
SIGNAL PROCESSOR:-
 Signal processor (or) conditioner receives output signals from sensor (or)
transducer and manipulates into a suitable input signal.
DISPLAY OR RECORDING DEVICES:-
 Recorder records the output from signal conditioner.
 Display devices display measured variable in visual.
EXAMPLE OF MEASUREMENT SYSTEM:-
CONTROL SYSTEM:-
 Group of physical components connected or related to command direct or regulate
itself or another system.
ELEMENTS OF CONTROL SYSTEM:-
 REFERENCE VARIABLE:-Stimulus applied to a control system from an external
source.
 OUTPUT:-Actual response obtained from the system.
 FEEDBACK:-Portion of output of a system that is returned to modify the
input.
 ERROR:-Input given – output response.
 DISTURBANCE:-Other signal which affect the signal performance.
 ACTUATING SIGNAL:-Feedback signal- Reference signal.
 CONTROL OR FEED FORWARD ELEMENTS.
 CONTROLLED OUTPUT.
 FEEDBACK ELEMENTS.
CONCEPTS OF MECHATRONICS DESIGN:-
FUNCTION OF CONTROL SYSTEM:-
 To minimize the error between actual and desired output.
 To minimize the time response of load changes.
APPLICATIONS OF CONTROL SYSTEMS:-
 Print wheel control system of the printer.
 Temperature control of electric furnaces.
 Sun tracking control of solar collector.
 Idle speed control system of an automobile.
OPEN LOOP CONTROL SYSTEM:-
 Output of the system is not used as a variable to control the system.
 In open loop systems are systems in which input to the system is not
controlled by the present outputs.
BREAD TOASTER (OPEN LOOP) CONTROL SYSTEMS:-

 System is switched ON, the heating element heats the bread for a
particular time and automatically switch OFF and ejects the bread.
 There is no feedback of data whether the bread is toasted properly or not.
CHEMICAL ADDITION PUMP (OPEN LOOP):-

ADVANTAGES: DISADVANTAGES:
Simple. Less accurate.
Cost effective. Slow – manual control
Easy maintenance. Optimization not possible.
Good reliability. Affected by internal and external disturbances.
CLOSED LOOP CONTROL SYSTEMS:-
 Uses feedback loop to control the operation of the system.
 Controller notices what actually takes places at the output end and drives the plant.
  MEASURING UNIT:- Sensors, Estimators And signal conditioner.
 CONTROL ELEMENTS:-Generate appropriate signals applied to the plant.
 Also known as controllers.
 COMPARISION ELEMENT(OR)ERROR JUNCTION:-
 Error signal=Difference b/w the reference value and measured
value.
 CORRECTION ELEMENT (OR) ACTUATOR:-Produces a change in plant.
 FEEDBACK ELEMENT:-Functional relationship between the feedback signal
and the controlled signal.
SENSORS AND TRANSDUCERS:-
 Sensors are the devices which produce a proportional output signal when
exposed to a physical phenomenon.
 Devices which detect or measure a physical property.
 Transducers are devices which converts an input of one form of energy into an
output of another form of energy.
CLASSIFICATION OF DENSORS:-
BASED ON ITS POWER REQUIRTMENT:-
i)PASSIVE SENSOR:-Require external power source.
Works on following principle resistance, inductance
and capacitance.
ii)ACTIVE SENSOR:-Self-generating transducers.
Power required to produce the output is provided by the
sensed physical phenomenon itself.
BASED ON THE TYPE OF OUTPUT SIGNAL:-
i) ANALOG SENSORS:-
PRIMARY SENSOR:-Produce the output which is the direct measure
of the input phenomenon.
SECONDARY SENSOR:-Output which not the direct representation
of the physical phenomenon.
Active -----Primary sensor
Passive------Secondary sensor
PERFORMANCE TERMINOLOGY:-
1. STATIC CHARACTERISTICS:-
RANGE:-Every sensor is designed to work a specified completion
SPAN:-Difference between the maximum and minimum values to be
measured.
 ERROR:-Measured value-True input value
ACCURACY:-Ratio of highest deviation of a value represented by the sensor
to the ideal value.
SENSITIVITY:-Ratio of Change in output by change in input.
HYSTERISIS:-Maximum differences in output for a given input when the
value is approached from different direction.
LINEARITY:-Output is directly proportional to input over its range.
NON-LINEARITY:-Output that is not proportional to input over its range.
2. DYNAMIC CHARACTERISTICS:-
RESPONSE TIME:-Time Taken By A Sensor To Approach Its True Output
When Subjected To Step Input.
TIME CONSTATNT:- Time taken by the system to reach 63.2% of its final
output signal amplitude.
RISE TIME:- Time taken by the system to reach 63.2% of its final output
signal.
SETTING TIME:- Time taken by a sensor to be within a close range of its
steady state value.
DISPLACEMENT SENSOR:-
Sensor which measure the variation of position of the body.
Various displacement sensors are: -
1. Potentiometer
2. Strain gauge.
3. Capacitance.
4. LVDT.
POTENTIOMETER: -
Primary sensor which consists of the linear motion or the angular motion of
the shaft into changes in resistance.
Type of resistive displacement sensor.
Linear potentiometers are sensors that produce a resistance output proportional
to the linear displacement or position.
Essential variable resistors whose resistance is varied by the movement of a
slider over a resistance element.
Rotary potentiometers are sensors that produce a resistance output
proportional to the angular displacement or position.
 Linear potentiometers employs an electrically conductive linear slide member
connected to a variable wound resistor that changes resistance.
As the sliding contact moves along the winding, the resistance changes in
linear relationship with the distance from one end of the potentiometers.
To measure the displacement, a potentiometer is wired as a Voltage divider so that
the output voltage is proportional to the distance travelled by the wiper.