Mechatronics System Design

Nie Peng
18040036088
Email: niehit@163.com
QQ:17823718
Mechatronics
1. Mechatronics Overview
2. Detection and Sensor
3. Stepper and servo motors
4. Mechanical Transmission
5. Control systems
6. Interface Technology
7. Servo system
 Mechatronics

Control system •The mathematical model of

mechanical system
•The Laplace transform (L)
•The transfer function
•A typical link
•Modeling instance
•System Times Reaction / response
•Frequency characteristics
•Correction link （校正环节）
Control system
The mathematical model of mechanical system

• The mathematical model of mechanical transmission

Quantitative mathematical expressions ( differential equation usually),

that describe the system relationship among the Input, internal structure,
the parameters and output.

 quality of block

equivalent
Dynamic equation
damping
动力学方程
Differential equation (the output on
the left, the input on the right)
Control system
The mathematical model of mechanical system

• The mathematical model of the circuit

Voltage balance equation The differential equation

 Control system
The Laplace transform (L) Mechatronics

L[g(t)]=G(s)
Properties:
叠加性 The asymmetry
齐次性 Homogeneity
微分定理 Differential theorem
积分定理 Integral theorem
 Control system
The transfer function Mechatronics

The transfer function

传递函数定义为：输出量 c(t) 的拉氏变换与输入量 r(t) 拉氏变换之比
Transfer function  is defined the ratio which Laplace transform of the output
c (t)  and the Laplace transform of  input r (t)

link1 link2
Control system
typical link Mechatronics

• The proportion link

 Control system
typical link Mechatronics

• The proportion link

The role of the proportional coefficient Kp is to amplify the error signal,
to control the output increase and response rapidly. The bigger the
proportional coefficient, the greater the control function, the faster the
reaction rate is, the weaker conversely the more slowly. But proportion
coefficient is too large, will make the error due to system is not stable
after the minimum 0 and quickly to produce error in the opposite
direction, cause many oscillation 震荡 and overshoot, and even make
the system not stable 稳定 . Only use ratio is not eliminate system
static error.

Electronic amplifiers, reducer, leveraged institutions, spring,

potentiometer are all belongs to proportion components

电子放大器、减速器、杠杆机构、弹簧、电位器等都是比列元件。
Control system
typical link Mechatronics

• Integral part
 Control system
typical link Mechatronics

• Integral part
Integral coefficient is the function of the accumulated error signal amplifier,
enables the system to eliminate static error, but it can't eliminate the error of
the oscillation phenomena. Integral regulation part is the accumulated error
signal for the control and response, when the system static error, the
cumulative effect will  multiply   makes the control output is also increasing
in order to achieve the purpose of eliminating static error. Therefore, as long
as the error accumulation is not equal to zero, integral coefficient to control
output have corresponding contribution, and contribution size increases
with the increase of cumulative error. The accumulation of integral
coefficient, the greater the integral role, the more the faster to eliminate
static error, the overshoot also increases, but may lead to system instability;
Conversely is abate, and eliminate the static error of process will be longer,
but improve the stability of the system.
Mechanical movement of the rotating speed and torque, displacement and
speed ， speed and acceleration, baking Box, temperature and power,
water level and water flow are all belong to the integral components.
Control system
typical link Mechatronics

• Differential link
Control system
typical link Mechatronics

• Differential link

The function of differential coefficient is to amplify the change of the

error.  regulating the volume control to reduce the actual output of
oscillation, which eliminate the change of the actual output near the
target. The faster the error change, the stronger the differential
coefficient of function, thus introducing differential will help to
eliminate the oscillation, reduce the overshoot, making the system
stability. Differential cannot eliminate static error, only in the deviation
has just appeared, produce a big adjustment, as soon as possible to
eliminate the deviation.
Video…… PID

引入微分有助于消除振荡，减小超调量，使系统趋于稳定。微分不能消除静差，只能在偏
差刚刚出现的时候，产生一个很大的调节作用，将偏差尽快消除。
Control system
typical link Mechatronics

• Inertial link Unit step signal

When   input has mutations ,output cannot

mutation, only according to the index law gradually
changes, it reflects the link with inertia.
An energy storage device (such as inductance and
capacitance and spring, etc.) and an energy
dissipation components (such as electricity
resistance, the combination of the damper, etc.)
can be used to form an Inertial link .

一个储能元件（如电感、电容和弹簧等）和一个耗
能元件（如电阻、阻尼器等）的组合就能构成惯性
环节。
Control system
typical link Mechatronics

• Delay link

output  will delay some time late than

input τ 
All kinds of transmission device may be caused by
transmission delay on time
Control system
typical link Mechatronics

• Delay link amplifier

Given thickness

execution

actual
thickness
controlled steel roller
steel thickness sensor

unqualified
Control system
typical link Mechatronics

• Oscillation link

Resistance
inductance
capacitance Oscillation element contains two
kinds Different forms of energy
storage unit, this two kinds of unit
energy can exchange each other
in the storage and delivery of
energy.

In the process of exchange, there

will be constitute oscillations.
 Control system
Modeling instance Mechatronics

• The transfer function of servo motor

The input to the motor power supply voltage u, the output

For motor shaft angular displacement Ɵ
Km - motor gain constant

Tm - the motor time constant

Motor parameters
Ra - armature winding resistance
KT - torque coefficient Servo motor is  composed of
Ke - back emf constant proportion km, integral part
C - the damping coefficient of the motor shaft speed 1/s and inertial link 1 /(Ts + 1) .
Control system
Modeling instance Mechatronics

• Lead screw drive transfer function

Lead screw is an oscillation component.

 Establish the mechanical system model

• 通过折算的办法将复杂的结构装置转化成等效的简单的函数关系。等效
折算就是将复杂关系的机械系统的惯量、弹性模量和阻尼等机械性能参
数规一处理，从而通过数学模型来反映各环节的机械参数对系统整体的
影响。

• The complex structure of device is converted into equivalent

simple function relationship. Equivalent conversion the complex
relationship between mechanical inertia of the system,
mechanical performance parameters such as elastic modulus and
damping Unified processing , thus through mathematical models
to reflect the mechanical parameters of every link of the system
as a whole.
 xo

m C K
G4

轴Ⅲ J3 T3 K 3
G2

轴Ⅱ J2 T2 K 2
G3
轴Ⅰ J1 K 1
G1
T1 xi

NC machine tool feed system

Through two-stage reduction gear motor G1, G2 and G3, G4 and lead screw nut
pair drive workbench for linear motion.
J1 is the inertia of Ⅰ shaft parts and motor rotor ;
J2, is the inertia of Ⅱ shaft parts ; 
J3 is the inertia of Ⅲ shaft parts
K1, K2, K3, respectively shaft Ⅰ, Ⅱ, Ⅲ torsional rigidity coefficient; 
K is the screw nut pair and nut the base part of the axial stiffness coefficient; 
M is the quality of the workbench; 
C is workbench guide viscous damping coefficient; 
• Establish a mathematical model of the system, the first is
to convert mechanical basic physical parameters of the
system on a certain elements in the transmission chain (in
this case is convert to the shaft Ⅰ), make the more
complex axis transmission relations into a single axis
movement, before and after the transformation of system,
the mechanical properties of the equivalent ; Then, on the
basis of a single axis according to the input and output
mathematical formula to establish the relationship
between its input/output (that is, the mathematical
model).To the related mechanical properties analysis of
the expression is reflected in the performance of the
original system . In the process of building mathematical
model of the system, we respectively according to
different quantities (e.g., J, K, ω) and the corresponding
conversion of equivalent value.
 The moment of inertia of conversion

• T′1,T′2,T′3 is respectively axis Ⅰ 、Ⅱ、Ⅲ load torque,

ω1,ω2,ω3 is respectively  axis Ⅰ 、Ⅱ、Ⅲ angular velocity,

V is for worktable displacement linear velocity,
z1 ,z2 ,z3 ,z4 is respectively four the number of teeth on the gears.

（ 1 ） Ⅰ、Ⅱ、Ⅲ Moment of inertia of axis of conversion

According to the principle of dynamic balance
Ⅰ, Ⅱ, Ⅲ axial force balance equation are respectively:
• dω1
T1  J 1  T1 (2-8)
dt
dω2
T2  J 2  T2 (2-9)
dt
dω3
T3  J 3  T3 (2-10)
dt
Because the input torque T2 of shaft Ⅱ is obtained by the
load torque on the shaft Ⅰ, with their speed is inversely
proportional, so

z2 '
T2  T1
z1
• according to the transmission relationship 
z1
ω2  ω1
z2
• T1, T2 and ω2 substitute type (2-9), then

z1 2 dω1 z1
T1  J 2( ) ( )T2 (2-11)
z2 dt z2
• In the same way
z1 z 3 2 dω1 z3
T2  J 3( )( ) ( )T3 (2-12)
z2 z4 dt z4
• （ 2 ） Convert the quality of the workbench to Ⅰ axis. In
between the workbench and screw, T '3 drive screw make
workbench movement.
dv
T32π  m( )L
dt
v is Linear velocity of workbench;
L is the screw lead （ screw pitch ）
So, screw rotation around the work done is equal to
the workbench along a lead its inertia force of the
work done.
• According to the transmission relations
L L z1 z 3
v  ω3  ( )ω1
2π 2π z 2 z 4
• V substitute, then
2
 L   z1 z 3  dω1
T3     m (2-13)

 2π   z 2 z 4  dt
• （ 3 ） Convert the total moment of inertia of axis Ⅰ

z1 2 z1 z3 2 z1 z3 2 L 2 dω1
T1  [J 1  J 2( )  J 3( )  m( )( )] （ 2-14 ）
z2 z2 z4 z2 z4 2π dt
z1 2 z1 z3 2 z1 z3 2 L 2
J  J1  J 2( )  J 3( )  m( )( ) （ 2-
 z2 z2 z4 z2 z4 2π 15 ）

J is the rotational inertia of the system for each link (or quality)

convert to the shaft Ⅰ total equivalent moment of inertia.
• 2. Conversion of the viscous damping coefficient

• When the workbench constant rotation,  axis Ⅲ

driving torque T3 completely used to overcome the
viscous damping force.
The viscous damping coefficient of workbench guide
C 。 According to the dynamic balance relationship
between the workbench and screw
T32π=CvL
• One revolution of the screw of the work that is equal to the
workbench along a lead when the damping force of the
work.
• According to the principle of mechanics and transmission
relations
z2 z4 2 L 2
T1  ( )( ) Cω1  C ω1 (2-16)
z1 z 3 2π
• C′—Workbench guide conversion on the shaft Ⅰ viscous
resistance coefficient

z2 z4 2 L 2
C ( )( )C (2-17)

z1 z 3 2π
 • 3. Conversion of the coefficient of elastic deformation

• 上例中，应先将各轴的扭转角都折算到轴Ⅰ上来，丝杠与
工作台之间的轴向弹性变形会使轴Ⅲ产生一个附加扭转角，
也应折算到轴Ⅰ上来，然后求出轴Ⅰ的总扭转刚度系数。
同样，当系统在无阻尼状态下时， T1 、 T2 、 T3 等输入
转矩都用来克服机构的弹性变形。

• This project should first translate each shaft torsional angle to

shaftⅠscrew axial elastic deformation between the workbench
and shaft Ⅲ causes an additional torsion Angle, also should be
converted to the shaft Ⅰ, and then the total torsional rigidity
coefficient of axis Ⅰ. Similarly, when the system is in the
condition of undamped, T1, T2 and T3 input torque is used to
overcome the elastic deformation of the organization.
• （ 1 ） conversion of the axial stiffness
After the system bear the load, lead screw nut pair and nut can
produce axial elastic deformation, figure 2 is its equivalent
action figure. In the left side screw input torque under the action
of T3, elastic deformation δ between the screw and the
workbench , additional torsion Angle Δθ3 corresponding to the
screw .According to the principle of dynamic balance and
transmission relations, on the screw shaft Ⅲ are:
T32π=KδL
Δθ3
δ  L
2π
1 2
T3  ( ) KΔ 3  K Δθ3
2π
  m C K

T3 K

The equivalent figure the elastic deformation

 1 2
• K′= ( ) KΔ 3（ 2-18 ）
2π
K′—Additional torsional rigidity coefficient
• （ 2 ） Conversion of Torsional rigidity coefficient  。
θ1 、 θ2 、 θ3 is  axis Ⅰ, Ⅱ, Ⅲ respectively in the input
torque under the action of T1, T2 and T3 torsion
Angle. According to the principle of dynamic balance and
transmission relations T
θ1  1
K1
T1 z 2 T1
θ2  ( )
K1 z1 K 2
T3 z 2 z 4 T1
θ3  ( )
K3 z1 z 3 K 3
• Because screw axial elastic deformation between
the workbench and the shaft Ⅲ attached a torsion
Angle Δθ3 ， So on the shaft Ⅲ actual torsion
Angle θⅢ is
θⅢ ＝ θ3 + Δθ3
then
T3 T3 z2 z4 1 1
III   ( )(  )T1
K3 K z1 z 3 K 3 K
Torsion Angle conversion of each axis to the axis Ⅰ
shaft Ⅰ total torsion Angle is
z2 z2 z4
  1  ( ) 2  ( )III
z1 z1 z 3
• so

T1 z 2 2 T1 z2 z4 2 1 1
  ( ) ( )(  )T1
K1 z1 K 2 z1 z 3 K 3 K
1 z2 2 1 z2 z4 2 1 1
[ ( ) ( )(  )]T1
K1 z1 K 1 z1 z 3 K 3 K
T1
 （ 2-19 ）
K
1
K  (2-20)
1 z2 2 1 z2 z4 2 1 1
( ) ( )(  )
K1 z1 K 1 z1 z 3 K 3 K
KΣ —convert to the total torsional rigidity coefficient of axis Ⅰ
 • 4. mathematic model of the system
Set Xi as input Angle of the input shaft Ⅰ,
Xo as output line displacement of workbench.
According to the principle of transmission, converted the
Xo into shaft Ⅰ output angular displacement Φ. According
to the principle of dynamic balance is on the shaft Ⅰ
2
d  d
J  C   K    K  Xi
dt 2
dt
2 z 2 z 4
again   ( )( )X o
L z1 z 3
so 2
d Xo dX o z1 z 3 L
J  C   K  Xo  ( )( )K  X i
dt 2
dt z 2 z 4 2
(2-23)
 • JΣ 、 C′ 、 Kσ are constant 。 (2-23) Laplace
transform ， Transfer function of the system
z1 z 3 L
( )( )K 
X (s ) z 2 z 4 2 z1 z 3 L n2
G(s )  o  ( )( ) 2
X i(s ) J  s 2  C s  K  z 2 z 4 2 s  2ns  n2
（ 2-24 ）

ωn ——natural frequencies of the system ， ωn= K （ 2-25 ）

J

ξ ——Damping ratio of the system ， ξ= C' （ 2-26 ）

(2 J  K  )
 Influence of damping
• （ 1 ） ξ ＝ 0 时， System is in continuous sustained
oscillation state, so the system can't without damping
• （ 2 ） ξ≥ 1 时， system is critical damping or
overdamping. No oscillation in the process of transition,
the response time is longer than the other.
• （ 3 ） 0<ξ<1 时， System is under-damped system. At
this point, the system in a damped oscillation state in the
process of transition, the amplitude attenuation speed,
depends on the attenuation coefficient rest
with ξωn. After ωn determine , the smaller ξ  the oscillation
is severe, the longer the transition process. In contrast, the
greater ξ,  the smaller the oscillation, the more stable
transition process, the better system stability, but the
response time is longer, decrease sensitivity.
 2.0
＝ 0
1.8 ＝ 0 . 5
＝ 0 . 1
1 . 6 ＝ 0 . 6
＝ 0 . 2
1.4
＝ 0 . 7 ＝ 0 . 3
1.2
＝ 0 . 4
x o( t )

1.0

0.8
＝ 0 . 8
0.6
＝ 1 . 0
0.4
＝ 2 . 0
0.2

0
1 2 3 4 5 6 7 8 9 10 11 12
 nt

Unit step response curve of second order system