INTRODUCTION

• Mechatronics is a concept of Japanese origin (1970’s).

• The term Mechatronics coined by “Tetsuro Mori”.

• Defined as the application of electronics and computer technology to

control the motions of mechanical systems.

DEPARTMENT OF MECHANICAL ENGINEERING

INTRODUCTION

• It is a multidisciplinary approach to product and manufacturing system

design.

• It involves application of electrical, mechanical, control and computer

engineering to develop products, processes and systems with greater

flexibility, ease in redesign and ability of reprogramming.

DEPARTMENT OF MECHANICAL ENGINEERING

ROLE OF VARIOUS ENGINEERING DISCIPLINES
IN MECHATRONICS

DEPARTMENT OF MECHANICAL ENGINEERING

REAL TIME APPLICATIONS

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TOPICS TO BE COVERED
LECTURE 1
Introduction to control
• Introduction to control system system

• Classification of control system

• Adaptive control system

• Process control systems

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INPUT

• The stimulus or excitation applied to a control system from an

external source in order to produce the output is called input

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OUTPUT

• The actual response obtained from a system is called output.

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SYSTEM

• A system is an arrangement of or a combination of different

physical components connected or related in such a manner so as

to form an entire unit to attain a certain objective.

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CONTROL

• It means to regulate , direct or command a system so that the

desired objective is attained

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CONTROL SYSTEM

• It is an arrangement of different physical elements connected in

such a manner so as to regulate, direct or command itself to

achieve a certain objective.

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DIFFERENCE BETWEEN SYSTEM AND
CONTROL SYSTEM

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DIFFERENCE BETWEEN SYSTEM AND
CONTROL SYSTEM

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A FAN: CAN'T SAY SYSTEM

• A Fan without blades cannot be a “SYSTEM” , Because it cannot

provide a desired/proper output i.e. airflow

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A FAN: CAN BE A SYSTEM

• A Fan with blades but without regulator can be a “SYSTEM”

Because it can provide a proper output i.e. airflow

• But it cannot be a “Control System” Because it cannot provide

desired output i.e. controlled airflow

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CLASSIFICATION OF CONTROL SYSTEM

• In general control systems are classified into two categories—open

loop and closed loop.

Open loop control system

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EXAMPLES OF OPEN LOOP CONTROL SYSTEM

• Bread Toaster

• Traffic control system using lights

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CLOSED LOOP CONTROL SYSTEM

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EXAMPLES OF CLOSED LOOP CONTROL SYSTEM

• Automatic Electric Iron

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DIFFERENCE BETWEEN OPEN LOOP &
CLOSED LOOP SYSTEM
Comparison Open Loop System Closed Loop System

The system whose control action is In closed loop, the output depends
Definition
free from the output on the control action of the system.
Other Name Non-feedback System Feedback System
Amplifier, Controller, Controlled
Components Controller and Controlled Process.
Process, Feedback.
Construction Simple Complex
Reliability Non-reliable Reliable
Accuracy Depends on calibration Accurate because of feedback.
Stability Stable Less Stable
Optimization Not-Possible Possible
Response Fast Slow
Calibration Difficult Easy
System Disturbance Affected Not-affected
Linearity Non-linear Linear
Traffic light, automatic washing Air conditioner, temperature control
Examples machine, immersion rod, TV remote system, speed and pressure control
etc. system, refrigerator, toaster.

DEPARTMENT OF MECHANICAL ENGINEERING

LINEAR AND NON-LINEAR CONTROL SYSTEMS

• A linear control system consists of the components having a linear

relationship between the input and output signals under steady state

conditions. Any system is called linear when the principle of superposition

is applied.

• A non-linear control system consists of one or more elements, which

exhibits a non-linear relationship between the input and output signals. In

such system, principle of superposition is not applicable.

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LINEAR-TIME VARYING AND TIME-INVARIANT
SYSTEMS

• In a control system, most physical systems are characterized by differential

equations. A differential equation is linear if the coefficients are constants or

functions only of an independent variable. If the coefficients of describing

differential equations are functions of time, then the mathematical model is

time varying. The systems which consist of linear time-variant components or

elements described by linear time-variant differential equations, whose

coefficients are functions of time, are called linear time-varying systems. On

the other hand, dynamic systems that are composed of linear time-invariant

components by linear time-invariant differential equations are called linear

time-invariant systems (parameters do not vary with time).

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CONTINUOUS-TIME AND DISCRETE-TIME CONTROL SYSTEMS

• A control system in which all the system parameters are continuous

functions of time t is called continuous-time control system. A control

system in which all the system parameters are discrete functions of time t

is called discrete-time control system.

LUMPED PARAMETER AND DISTRIBUTED PARAMETER

CONTROL SYSTEM

• The control system which can be described by ordinary differential

equations is called lumped parameter control system. On the other hand,

the control system which can be represented by partial differential

equations, is called distributed parameter control system.

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DETERMINISTIC AND STOCHASTIC CONTROL SYSTEM

• In any control system if the response to input is predictable and repeatable, then
the system is called deterministic control system. If the response to input is
unpredictable and non-repeatable, then the system is called stochastic control
system.

CLASSIFICATION OF CONTROL SYSTEMS ON THE

BASIS OF CONTROL SIGNAL USED

• Depending upon the nature of signals involved like electrical, mechanical,

hydraulic, pneumatic or combination of these signals, the control systems may be
classified as single input-single output (SISO) and multiple input-multiple output
(MIMO) systems.

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SISO system. As the name indicates, it is a system having a single input and a single
controlled variable. The output is produced by the single input solely. Only one input
signal flows or passes through the system. The examples of SISO systems are voltage
regulators, temperature controllers and so on.

MIMO system. There are certain systems having multiple inputs and multiple
outputs. The systems in which any change in one of the outputs causes a subsequent
change in the other output during transient and steady state conditions are called
MIMO systems. The examples are boiler in which the controlled variables are steam
pressure, temperature, water level and so on. Figure shows block diagram of an
MIMO system.

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Adaptive Control System

The control systems in which the system parameters are automatically adjusted to keep the
system at an optimum level are called adaptive control systems. Such type of control
systems itself detects changes in the plant parameters and make essential adjustments in the
controller parameters to maintain optimum level or performance.

Process Control System

It is an automatic regulating system (feedback control system) in which the output is a

variable (physical parameters) such as temperature, pressure, pH value, flow, liquid level
and so on. It is widely used in different industries like paper, sugar, petrochemical, rubber
and so on.

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COMMONLY USED CONTROL SYSTEM
COMPONENTS
• DC motors which are used in servosystems are called tic servomotors. This motor
provides high starting torque due to low inertia. This low inertia can be achieved by
reducing armature diameter with increasing armature length so that the desired
output power can be achieved.

• Low power rating dc servomotors are used in computer disk drives, printer, tape
drives and so on. Medium and large power dc servomotors are used in machine tool
industries, robots and numerically-controlled machines.

• In dc servomotors, field winding may be connected either in series with the

armature or separate from the armature.

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• DC servomotors may be used in two different control modes as follows:

• Armature control mode, in which the speed of the dc servomotor is

controlled by armature current with field current constant.

• Field control mode, in which the armature current is maintained constant and
speed of the dc servomotor is controlled by field voltage.

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TACHOMETERS

• Tachometer is used for angular speed measurement. Basically, tachometers are

classified as mechanical and electrical tachometers. Electrical tachometers are
further divided into ac and dc tachometers. In control system, tachometer is used as
a feedback element.

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MECHANICAL TACHOMETERS

• This type of tachometer consists of mechanical assembly and movements

for the measurement of speed. Revolution counter is a type of mechanical
tachometer. Figure shows the construction of a revolution counter
(mechanical counter).

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ELECTRICAL TACHOMETERS

• This type of tachometer converts the angular or rotational speed into electrical
signal and indicates on the indicator provided.

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AC POSITION CONTROL SYSTEM

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ADVANTAGES OF AC POSITION CONTROL
SYSTEMS
• AC amplifiers are more stable so there is no drift in operation.
• Because of small size of ac components, the system is compact.
• It has low cost.

DEPARTMENT OF MECHANICAL ENGINEERING