MECHATRONICS SYSTEMS

B Tech
(Mechanical - Robotics & Automation)
Assessment Scheme
• Class Continuous Assessment (CCA): 30 Marks
Assignments Mid-term Test Presentations

10 15 5

• Laboratory Continuous Assessment (LCA): 30 Marks

Practical Oral based on PBL
practical

15 10 5

• Term End Examination : 40 Marks

Introduction to Mechatronics
Mechatronic System relationship
Mechatronic System Components
• Mechatronics is the synergistic integration of
• sensors, actuators, signal conditioning,
• power electronics,
• decision and control algorithms, and computer hardware and
• software to manage complexity, uncertainty, and communication in
engineered systems.
Key Elements of Mechatronics system
Mechatronics Applications
• Smart consumer products:
• home security, camera, microwave oven, toaster, dish
washer, laundry washer-dryer, climate control units,
Refrigerator.
• Medical:
• implant-devices, assisted surgery, Bio-Mechanics with chip
assistance.
• Defense:
• unmanned air, ground, and underwater vehicles,
submarine navigation, jet engines, etc.
Mechatronics Applications
• Manufacturing:
• robotics, machines, processes, etc.
• Automotive:
• climate control, antilock brake, active suspension, cruise
control, air bags, engine management, safety, etc.
• Network-centric, distributed systems:
• distributed robotics, tele robotics, intelligent highways, etc.
Mechatronics -Automotive
Mechatronics –Industrial Robotics
Measurement system
Basic components in a measurement system

Basic components in a measurement system are shown

below:

Amplification and Conditioning

It is also important to mention that a power supply is

an important element for the entire system.
Temperature Measurement system
Washing machine system
Definitions
▪ System – An interconnection of elements and devices for a desired
purpose.

▪ Control System – An interconnection of components forming

a system configuration that will provide a desired response.

▪ Process – The device, plant, or system under control. The input

and output relationship represents the cause-and-effect
relationship of the process.

Input Process Output

Definitions
• Controlled Variable– It is the quantity or condition that is measured
and Controlled. Normally controlled variable is the output of the
control system.

• Manipulated Variable– It is the quantity of the condition that is varied

by the controller so as to affect the value of controlled variable.

• Control – Control means measuring the value of controlled variable of

the system and applying the manipulated variable to the system to
correct or limit the deviation of the measured value from a desired
value
What is Control System?

• A system Controlling the operation of another system.

• A system that can regulate itself and another system.
• A control System is a device, or set of devices to
manage, command, direct or regulate the behaviour
of other device(s) or system(s).
Definitions
Manipulated Variable

Input
or Output
Set point Controller Process Or
or Controlled Variable
reference

Disturbances– A disturbance is a signal that tends to adversely affect

the value of the system. It is an unwanted input of the system.
• If a disturbance is generated within the system, it is called
internal disturbance. While an external disturbance is generated
outside the system.
Control systems

• Control system are an integral part of our lives and play very
important role.
• From a simple bread toaster to complex power plant, control system
are all around us and inseparable part of modern society.
• Launching a satellite in orbit, regulating a power plant, tracking
enemy on radar are some of man made control system..
• Control system occur in nature also. Human body is a great example
of complex Control system, because we've so many control system by
nature i.e. respiratory, Digestive system etc.
• Control system : A control system is an arrangement or a combination of various physical
components, also called sub-systems, connected in such a manner so as to attain a certain
objective.
• Input : The excitation applied to the system from an external source to attain a output is called
input signal
• Output : The actual signal attain from system is called output signal.
• Control action : is a quantity responsible for activating the system.
• Must have things in the control system:
• 1. Inputs
• 2. Outputs
• 3. An arrangement of subsystems to achieve the input-output
combination
• There are two types of systems depending on the configuration of
components:
• 1) Open loop system 2) Close loop system
Open loop system

• Those systems in which the output has no effect on the control

action are called open-loop control systems. i.e. It doesn’t
automatically correct the changes in the output
• • A system in which control action is independent of the output of the
system is called as open loop system. • In open loop system, the
output remains constant for a given input provided the external
conditions are the same. • There is no connecting action taking place
in an open loop system i.e. No Feedback
• Examples of Open loop system
1. Electric Hand Drier
2. Automatic Washing Machine
3. Bread Toaster
• • Advantages
1) Simple Construction & Design
2) Economic
3) Easy maintenance
4) Stability
• Disadvantages
1) Incorrect and unreliable
2) Internal Disturbance
3) Recalibration is required time to time
Closed-Loop Control Systems
Closed-Loop Control Systems utilizes feedback to compare the actual
output to the desired output response.

Input (Process) Output

Comparator Controller Controlled
systems

(Measurement)
Feedback element

Examples:- Refrigerator, Iron, Voltage stabilizer, Temperature control

system, Missile launching system, Position control system in Radar,
Robot
Control

A Control system performs following functions

• For particular input the system output can be controlled to a desired

particular value.

• If some conditions are satisfied it can give a particular sequence of

events as output corresponding to given input

Actual Response
Desired Response
Open Loop Control

• Output is dependent on input but controlling action is totally

independent of the changes in output

• No feedback is used, so the controller must independently determine

what signal to send to the actuator.

Control
u
Input Plant Output
Law

Plant = Mathematical model of Input Amplifier + Actuator + Physical System

Input = Reference / Desired Input or Set Point Input

Output = Measured Output

Control Law = Mathematical model of the Controller

Examples of Open Loop Control
Advantages and Dis-advantages of Open Loop Control

Advantages:
• Simple in construction
• Low cost
• Convenient to implement when output is difficult to measure

Disadvantages:
 The controller never actually knows if the actuator did what it
was supposed to do, i.e. it could be inaccurate
 Unable to sense the environmental changes or disturbances
Closed Loop Control
• Controlling action is dependent on the changes in output

+ e u
Control
Input ∑ Plant Output
Law

e = Error = Input – Output

u = Control Input
Examples of Closed Loop Control
Examples of Automatic Closed Loop Control
Advantages and Dis-advantages of Closed Loop Control

Advantages:
• Accurate, since the controller modifies and manipulates the
actuating signal such that the error in the system will be zero.
• Self-correcting
• Senses the environmental changes, and disturbances in the
system.

Disadvantages:
• Complicated to design
• Costly
• Instable, since due to feedback , system tries to correct the error.
To Control?
To Control?
Control
▪ A control system commands / directs / regulates the behaviour
of a systems using control loops

▪ Job of a control loop is to “generate a control input / effort that

can be used to drive the un-controlled system, albeit externally,
to achieve the desired performance”

▪ Control loop can be:

▪ Open loop

▪ Closed loop

▪ Combination of open and closed loop

Control Loop: Types

Open Loop Control System

Closed Loop Control System

Illustration: Closed Loop Control
Un-controlled vs Controlled System
▪ Blue response resembles an un-controlled system with un-desired
response
▪ This response is oscillatory as well as it takes much longer to
settle down
▪ Why: Inertia effect, friction, backlash etc
▪ The red response is of a controlled system with desired response
▪ This response contains no oscillations and it settles to equilibrium /
steady state in lesser time
Illustration of Why Control is Required:
Inverted Pendulum on Cart
Liquid Level Control System
Block diagram
Functional Block
Closed Loop Control System
Transfer Function and Block Diagram
Time Domain vs Frequency Domain

• In time domain, amplitude of signal is plot wrt time

• In frequency domain, amplitude of signal is plot wrt frequency
• Certain information, such as noise, distortions etc are hard to quantify / know of in time domain
Laplace Transform
Transfer Function Models

• Why TF?
• Because it is easier / better to assess some things using
classical techniques, such as gain and phase margin.
• How to determine TF?
• Derive the Governing Differential Equation
• Assume I.C=Zero and
• Take Laplace transform of output
• Take Laplace transform of input
• Transfer function = L (output) / L (input)
Transfer Function of Control System
Definition:
• The transfer function of a control system is the ratio of Laplace
transform of output to that of the input while taking the initial
conditions, as 0. Basically it provides a relationship between input
and output of the system.
• Transfer function is considered as an appropriate way of representing
a linear time-invariant system.
output achieved will represent the performance of the system. Thus can be
expressed as:

Thus we can say that it is a mathematical function explaining the system

parameters according to the applied input so as to get the desired output.
Transfer Function

k is the gain factor of the system.

Poles of Transfer Function
• Poles of the transfer function are defined as those values of the
parameter ‘s’ whose substitution in the denominator makes the
transfer function as infinite.
• So, in the above equation, if s is substituted as s1, s2 — sn in the
denominator, then these values act as the poles of the transfer
function.
• When the term in the denominator is equated to zero then the
obtained roots are known as poles.
Let we have a system with transfer
function:

These are the poles of the above transfer function. As the substitution of these
values in the denominator leads to provide infinite transfer function.
Zeros of Transfer Function
• We have already discussed that poles are specified by the
denominator of the transfer function. However, the zeros of the
transfer function are evaluated using the numerator.
• Those values of the s that when substituted in the numerator of the
transfer function make the transfer function zero, is known as zeros of
that transfer function.
• Like the poles, the zeros are also roots of the equation, which is
achieved when the term in the numerator is equated to 0.
Consider that a system has a transfer
function:

These are the zeros of the transfer function, as these values on substitution
make the overall transfer function of the system 0.
Advantages
• The complex time-domain equations can be converted into simple
algebraic form using Laplace transform.
• It provides the mathematical model of the overall system along with
each system component.
• For a known transfer function, the output response is easy to determine
for any reference input.
• It helps to determine important parameters of the system like poles,
zeros, etc.
• The stability of the system can be easily analyzed using the transfer
function.
• It helps to relate output with input.
Disadvantages
• It is not applicable to non-linear systems.
• The initial conditions are not considered as the effects generated by
them are neglected.
Block Diagram

• Comparator  Subsystem is represented as a

block with an input, an output,
• Input/Reference/Output/Disturb and a transfer function

ance / Feedback Signal

 When multiple subsystems are
• Blocks to represent: interconnected, a few more
schematic elements must be
• Sensor, Actuator, Plant, added to the block diagram
Controller, Amplifier etc (in
 These new elements are
symbolic form / transfer
summing junctions and pickoff
function form) points.
Block Diagram Reduction Rules – Control System
• It is always better to draw the block diagram of the system in the easiest
possible way thereby making the analysis simple.
• But as we also know that the block diagram representation of a system
involves summing points, functional blocks, and take-off points connected
through branches and flow of signal shown by the arrowheads.
• However, when we deal with control systems, then we come across various
complex block diagram representation of systems that holds various
functional blocks with multiple summing points and take-off points.
• So, such a complex diagram must be reduced to its simple or canonical
form. However, while reducing the block diagram it is to be kept in mind
that the output of the system must not be altered and the feedback should
not be disturbed. So, to reduce the block diagram, proper logic must be
used.
Rules for Block Diagram Reduction
For serially connected blocks
• When blocks are connected in series then the overall transfer
function of all the blocks is the multiplication of the transfer function
of each separate block in the connection.
For parallely connected blocks
Shifting of take-off point behind the block
Shifting of take-off point ahead of the block
Shifting of Summing point behind the block
Shifting of summing point ahead of the block
Interchange of the summing point
Splitting/ combining the summing point
Eliminating the feedback loop
Example of Block Diagram Reduction
• First, see the procedural steps to be followed for solving block diagram reduction
problems:
• The directly connected blocks in series must be reduced to a single block.
• Further, reduce the parallely connected block into a single block.
• Now reduce the internally connected minor feedback loops.
• If shifting does not increase the complexity, then try having the take-off point
towards the right while summing point towards left.
• Repeat the above-discussed steps to have a simplified system.
• Now determine the transfer function of the overall closed-loop simplified system.
Consider a closed-loop system shown here and find the
transfer function of the system:
Reducing the 3 directly connected blocks in
series into a single block, we will have:
Further, we can see 3 blocks are present that are connected
parallely. Thus on reducing blocks in parallel, we will have:
Further on simplifying the internal closed-loop
system, the overall internal gain will be
Now reducing the two blocks in series:
We know gain of the closed-loop system is given as:

This is the overall transfer function of the given control system.

Block Diagram Reduction Rules
Follow these rules for simplifying (reducing) the block diagram, which is having
many blocks, summing points and take-off points.

Rule 1 − Check for the blocks connected in series and simplify.

Rule 2 − Check for the blocks connected in parallel and simplify.
Rule 3 − Check for the blocks connected in feedback loop and simplify.
Rule 4 − If there is difficulty with take-off point while simplifying, shift it towards
right.
Rule 5 − If there is difficulty with summing point while simplifying, shift it towards
left.
Rule 6 − Repeat the above steps till you get the simplified form, i.e., single block.
Reduction techniques

1. Combining blocks in cascade or in parallel

G1 G2 G1G2

G1
G1 + G2
G2

2. Moving a summing point behind a block

G G
G
3. Moving a summing point ahead of a block

G G
1
G

4. Moving a pickoff point behind a block

G G
1
G

5. Moving a pickoff point ahead of a block

G G
G
Moving Blocks to Create Familiar Forms
Example 1
Example 2
Example 2
Example 3
Example 3
Example 4
Example 5
Example 5
Example 5
Example 5
Example No. 6

H2

R _ C
+_ + G1 + G2 G3
+

H1
Block diagram Reduction example
H2
G1
R _ C
+_ + + G1 G2 G3
+

H1
H2
G1
R _ C
+_ + + G1G2 G3
+

H1
H2
G1
R _ C
+_ + + G1G2 G3
+

H1
H2
G1
R _ C
+_ + + G1G2 G3
+

H1
H2
G1
R _ G1G2 C
+_ + G3
1 − G1G2 H1
H2
G1
R _ G1G2G3 C
+_ +
1 − G1G2 H1
R G1G2G3 C
+_ 1 − G1G2 H1 + G2G3 H 2
R G1G2G3 C
1 − G1G2 H1 + G2G3 H 2 + G1G2G3