MTE 510 MECHATRONICS ENGINEERING LABORATORY IV

FREE LABORATORY MANUAL

Creating a free laboratory assignment on controlling double and single-acting cylinders using IR
(Infrared), PIR (Passive Infrared), and ultrasonic sensors involves both theoretical understanding
an)d practical implementation. Below is a comprehensive guide for the laboratory assignment:

1) Title: Sensor-Based Control of Double and Single-Acting Cylinders in a

Pneumatic System

Objective:

The objective of this laboratory assignment is to design a pneumatic control system using IR,
PIR, and ultrasonic sensors to control the movement of both double and single-acting cylinders.

Materials Needed:

1. Pneumatic system components (double and single-acting cylinders, valves, tubing,

fittings)
2. Arduino board
3. IR sensor module
4. PIR sensor module
5. Ultrasonic sensor module
6. Motor driver (if required)
7. Power supply
8. Breadboard and jumper wires
9. LED indicators
10. Computer with Arduino IDE installed

Experimental Setup:

1. Connect the pneumatic components to form a basic pneumatic circuit with both double
and single-acting cylinders.
2. Connect the cylinders to solenoid valves for controlling the airflow.
3. Connect the valves to the air supply and exhaust.
4. Attach the IR sensor, PIR sensor, and ultrasonic sensor at suitable positions for detecting
objects or movement.

Circuit Connections:

1. Connect the IR sensor, PIR sensor, and ultrasonic sensor to the Arduino board.
2. Connect the LEDs to the Arduino board to indicate the status of each sensor.
3. If using a motorized system for the double-acting cylinder, connect the motor driver to
the Arduino.
Arduino Programming: write the code and sketch the pneumatic circuit ?
Write an Arduino program that reads the sensor data and controls the movement of the cylinders
accordingly. Consider the following logic:

Instructions for Students:

1. Understand the purpose and working principle of IR, PIR, and ultrasonic sensors.
2. Connect the pneumatic components to build a basic pneumatic circuit.
3. Connect the sensors and LEDs to the Arduino board according to the circuit connections.
4. Upload the provided Arduino program to the Arduino board.
5. Observe and analyze the behavior of the cylinders based on sensor inputs.
6. Experiment with different sensor configurations and program modifications.
7. Document your observations and any challenges faced during the experiment.
8. Write a conclusion discussing the effectiveness of using IR, PIR, and ultrasonic sensors
for controlling pneumatic systems.

Assessment Criteria:

 Correctness and functionality of the pneumatic system.

 Proper wiring and connections of sensors and actuators.
 Understanding and application of sensor data in the Arduino program.
 Effectiveness of the control system in response to different sensor inputs.
 Clarity and completeness of documentation and conclusion.

This laboratory assignment provides a hands-on experience in integrating sensors with a

pneumatic system and programming an Arduino to control its behavior based on sensor inputs.
Students can explore additional features and improvements to enhance the functionality of the
system.

2) Title: Obstacle Avoidance for Four-Wheel Mobile Robot using

Ultrasonic Sensors
Objective: The objective of this laboratory assignment is to design and implement an obstacle
avoidance system for a four-wheel mobile robot using ultrasonic sensors. Students will learn the
basics of sensor interfacing, motor control, and programming for autonomous navigation.

Materials Needed:

1. Four-wheel mobile robot chassis with motors

2. Arduino board
3. Motor driver module
4. Ultrasonic sensors (HC-SR04)
 5. Power supply for the robot
6. Jumper wires
7. Breadboard
8. Laptop or computer with Arduino IDE installed

Experimental Setup:

1. Assemble the four-wheel mobile robot by attaching motors and wheels to the chassis.
2. Connect the motor driver module to the Arduino board and the robot motors.
3. Attach the ultrasonic sensors to the front of the robot at equal intervals.

Circuit Connections:

1. Connect the motor driver module to the Arduino board according to the datasheet or
module instructions.
2. Connect the ultrasonic sensors to the Arduino board (Trig and Echo pins for each sensor).

Arduino Programming: Write an Arduino program that reads data from the ultrasonic sensors
and controls the motors to avoid obstacles. Consider the following logic:

Write the code and the circuit diagram?

Instructions for Students:

1. Assemble the robot and make the necessary circuit connections.

2. Upload the provided Arduino program to the Arduino board.
3. Observe the robot's behavior in response to obstacles.
4. Experiment with different obstacle scenarios and distances.
5. Document your observations and any challenges faced during the experiment.
6. Write a conclusion discussing the effectiveness of the ultrasonic sensor-based obstacle
avoidance system.

Assessment Criteria:

 Proper assembly and wiring of the robot and sensors.

 Correct implementation of the obstacle avoidance algorithm.
 Accuracy and reliability of the robot's response to obstacles.
 Clarity and completeness of documentation and conclusion.

This laboratory assignment provides students with hands-on experience in building and
programming a four-wheel mobile robot with an ultrasonic sensor-based obstacle avoidance
system. Students can further enhance the project by adding additional sensors, improving the
algorithm, or integrating wireless communication for remote control.
3) Title: Implementation of PI, PD, and PID Controllers for DC
Motor Control using MATLAB Simulation
Objective: The objective of this laboratory assignment is to gain an understanding of the
proportional-integral (PI), proportional-derivative (PD), and proportional-integral-derivative
(PID) controllers and their applications in controlling the speed of a DC motor through
MATLAB simulation.

Materials Needed:

1. MATLAB software installed on a computer.

MATLAB Simulation Setup:

1. DC Motor Model:
o Model a DC motor using Simulink in MATLAB. You can use the "Transfer Fcn"
block to represent the motor dynamics.
o Parameters to consider: Armature resistance, armature inductance, motor constant
(Km), back electromotive force constant (Ke), moment of inertia (J), and damping
coefficient (B).
2. PI Controller:
o Implement a PI controller using Simulink.
o Tune the PI controller parameters (proportional gain (Kp) and integral gain (Ki))
to achieve a stable and efficient response.
o Connect the PI controller to the DC motor model.
3. PD Controller:
o Implement a PD controller using Simulink.
o Tune the PD controller parameters (proportional gain (Kp) and derivative gain
(Kd)) for optimal performance.
o Connect the PD controller to the DC motor model.
4. PID Controller:
o Implement a PID controller using Simulink.
o Tune the PID controller parameters (proportional gain (Kp), integral gain (Ki),
and derivative gain (Kd)) for optimal performance.
o Connect the PID controller to the DC motor model.
5. Simulation Scenarios:
o Simulate the system under various scenarios such as step input, ramp input, and
sinusoidal input to observe the response of the DC motor under PI, PD, and PID
control.

MATLAB Code: Below is a basic template for the Simulink model in MATLAB. Be sure to
replace the placeholders with the actual parameters of your DC motor.

Write the code?

Instructions for Students:

1. Open the Simulink model in MATLAB and inspect the DC motor and controller
configurations.
2. Run the simulation for each controller (PI, PD, and PID) separately.
3. Observe and analyze the system response under different scenarios.
4. Adjust the controller gains to achieve better performance and stability.
5. Document your observations and explain the impact of each controller on the DC motor's
behavior.
6. Compare the performance of PI, PD, and PID controllers in terms of response time,
overshoot, and steady-state error.

Assessment Criteria:

 Correct implementation of the DC motor model and controllers in Simulink.

 Accurate tuning of controller parameters for optimal performance.
 Clear documentation of simulation results and observations.
 Comprehensive analysis of the impact of each controller on the DC motor's behavior.
 Understanding of the advantages and disadvantages of PI, PD, and PID controllers.

4) Title: Introduction to PLC Programming - Traffic Light Control

System
Objective: The objective of this laboratory assignment is to introduce students to Programmable
Logic Controller (PLC) programming through the implementation of a traffic light control
system. This hands-on exercise will help students understand the basics of ladder logic
programming and the functioning of a simple control system.

Materials Needed:

1. PLC simulator software (e.g., PLCLogix or any other suitable software)

2. Computer with the PLC simulator installed
3. Virtual or physical traffic light model (optional)

PLC Programming Setup:

1. Traffic Light System:

o Design a traffic light control system with three signals: Red, Yellow, and Green.
o Include a pedestrian signal with Walk and Don't Walk indications.
o Model the system as per the standard traffic light operation.
2. Ladder Logic Programming:
 oImplement the traffic light control system using ladder logic programming in the
PLC simulator.
o Use relay symbols or equivalent programming elements to represent the different
components of the traffic light system.
o Consider input devices such as pushbuttons or timers for pedestrian signals.
3. PLC Simulator:
o Use a PLC simulator to test and run the ladder logic program.
o Simulate different scenarios, such as normal traffic flow and pedestrian crossings.
o Observe the behavior of the traffic light system in the simulation.

PLC Code Template (Ladder Logic): Below is a basic template for ladder logic programming.
Adjust it according to your specific PLC simulator and requirements.

Write the code?

Instructions for Students:

1. Open the PLC simulator software and create a new project.

2. Build the ladder logic program based on the provided template and modify it as needed.
3. Simulate the traffic light control system under various scenarios, including pedestrian
crossings.
4. Observe the behavior of the system and verify that it follows the standard traffic light
operation.
5. Experiment with the ladder logic program to introduce additional features or modify the
existing ones.
6. Document any challenges faced during the programming and simulation process.
7. Write a conclusion summarizing the learning outcomes and observations.

Assessment Criteria:

 Correct implementation of ladder logic programming for the traffic light control system.
 Successful simulation of the system in the PLC simulator.
 Documentation of observations and any modifications made to the program.
 Understanding of basic PLC programming concepts and traffic light control logic.
 Creativity in introducing additional features or modifications to the system.

5) Title: PID Controller Implementation Using Operational

Amplifiers
Objective: The objective of this laboratory assignment is to design and implement a PID
(Proportional-Integral-Derivative) controller using operational amplifiers. This hands-on exercise
aims to provide students with a practical understanding of PID control principles and the use of
operational amplifiers in control systems.
Materials Needed:

1. Operational amplifiers (op-amps)

2. Resistors, capacitors, and other passive components
3. Breadboard and jumper wires
4. Power supply
5. Potentiometers or variable resistors
6. Signal generator
7. Oscilloscope or multimeter
8. Computer with simulation software (optional)

Experimental Setup:

1. Proportional (P) Controller:

o Design a basic proportional controller using an op-amp.
o Connect the input signal (reference or setpoint) and feedback signal to the op-
amp.
o Adjust the gain of the op-amp to achieve proportional control.
2. Proportional-Integral (PI) Controller:
o Expand the system to include an integrator.
o Connect an integrator circuit using an op-amp to the proportional controller.
o Adjust the integrator's gain to observe the effects on system response.
3. Proportional-Integral-Derivative (PID) Controller:
o Further enhance the system by adding a derivative component.
o Integrate a derivative circuit using an op-amp into the existing setup.
o Adjust the gains of each component to fine-tune the PID controller.
4. Testing and Observation:
o Apply a step input or sinusoidal input to the system and observe the response.
o Adjust the PID gains to optimize the system's performance in terms of response
time, overshoot, and stability.
5. Simulation (Optional):
o If applicable, simulate the PID controller using circuit simulation software (e.g.,
LTspice or similar).
o Compare the simulated results with the experimental observations.

Instructions for Students:

1. Assemble the PID controller circuit on the breadboard.

2. Connect the input signal, feedback signal, and output signal to appropriate points on the
circuit.
3. Adjust the gains of the proportional, integral, and derivative components to achieve
desired control characteristics.
4. Apply different inputs and observe the response of the system.
5. Experiment with tuning the PID gains to optimize the system's performance.
6. Document the observed behavior and any challenges faced during the experiment.
 7. If available, simulate the PID controller using circuit simulation software and compare
the results.

Assessment Criteria:

 Correct assembly of the PID controller circuit using operational amplifiers.

 Successful tuning of PID gains to achieve desired control characteristics.
 Clear documentation of experimental observations and adjustments made.
 Understanding of the effects of proportional, integral, and derivative components in a
PID controller.
 Optional: Comparison of experimental results with simulated results using circuit
simulation software.

Draw the circuits for the PID using op-amps?

Engr. Yakubu Shehu

Engr. M. Aminu (Wunti)