ΕΛΛΗΝΙΚΗ ΔΗΜΟΚΡΑΤΙΑ
Ανώτατο Εκπαιδευτικό Ίδρυμα Πειραιά
Τεχνολογικού Τομέα
Ορολογία στην Ξένη Γλώσσα
Ενότητα: Mechatronics
Παναγιώτης Τσατσαρός
Τμήμα Μηχ. Αυτοματισμού ΤΕ
Άδειες Χρήσης
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Το παρόν εκπαιδευτικό υλικό υπόκειται σε άδειες χρήσης Creative Commons.
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Για εκπαιδευτικό υλικό, όπως εικόνες, που υπόκειται σε άλλου τύπου άδειας
χρήσης, η άδεια χρήσης αναφέρεται ρητώς.
Χρηματοδότηση
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Το παρόν εκπαιδευτικό υλικό έχει αναπτυχθεί στα πλαίσια του εκπαιδευτικού
έργου του διδάσκοντα.
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Το έργο «Ανοικτά Ακαδημαϊκά Μαθήματα στο Ανώτατο Εκπαιδευτικό
Ίδρυμα Πειραιά Τεχνολογικού Τομέα» έχει χρηματοδοτήσει μόνο την
αναδιαμόρφωση του εκπαιδευτικού υλικού.
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Το έργο υλοποιείται στο πλαίσιο του Επιχειρησιακού Προγράμματος
«Εκπαίδευση και Δια Βίου Μάθηση» και συγχρηματοδοτείται από την
Ευρωπαϊκή Ένωση (Ευρωπαϊκό Κοινωνικό Ταμείο) και από εθνικούς πόρους.
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1.
Σκοποί ενότητας ................................................................................................ 4
2.
Περιεχόμενα ενότητας........................................................................................ 4
3.
Mechatronics ..................................................................................................... 5
3.1
Mechatronics as a System .......................................................................... 5
3.2
Exercise A ................................................................................................. 11
3.3
Exercise Β ................................................................................................. 12
3.4
Exercise C................................................................................................. 13
3.5
Exercise D................................................................................................. 14
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1. Σκοποί ενότητας
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Provide authentic text and vocabulary specific to the needs of students of
Automation Engineering
Encourage students to combine their knowledge of English with their
technical knowledge
Encourage students to identify the structure of a system
Guide students into locating specific information relative to specific
components of a system
Help students to match terms and their definitions
2. Περιεχόμενα ενότητας
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Mechatronics as a system: input, output, power, control, signal conditioning
Input/output devices, peripherals
Signal conditioning methods
Power supply
Closed loop control algorithms
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3. Mechatronics
Mechatronics has been defined in many different ways over the years. Definitions
include "incorporating electronics more and more into mechanisms," "the integration
of mechanical engineering with electronics and intelligent computer control in the
design," and "the application of complex decision making to the operation of physical
systems." In essence, mechatronics is adding intelligence to a mechanical design or
replacing mechanical designs with an intelligent electronic solution. As technology
advances, designs that were once purely mechanical are now best done with
electronics or a combination of both.
3.1 Mechatronics as a System
A mechatronics design is a control system. One or more inputs are fed to a
microcontroller. These inputs may have to undergo some signal conditioning before
being read by the microcontroller. The microcontroller then implements a control
algorithm that interprets the various inputs into the appropriate output or outputs.
Again, signal conditioning may be necessary on the output side of the system before
driving an actuator or display. In a closed loop system, feedback is received so that
the microcontroller is able to monitor and adjust the output as necessary. Providing
power to the microcontroller is the last piece of the mechatronic system. In summary,
the components of a mechatronic system are input, output, a control algorithm, signal
conditioning (if necessary), and power. The Mechatronics Design Center Home lists
these components and provides links to different applications under each
component.
1. The most basic input on a PIC microcontroller is a digital input pin. In order to
process complex digital signals or analog signals, external hardware and/or
microcontroller bandwidth are required. External hardware may consist of passive
components (resistors, capacitors, and inductors) or include active components
(operational amplifiers. A/D converters, etc.) Microchip offers a wide array of
standalone analog and interface products.
In addition, many PIC microcontrollers have built-in peripherals that allow for the
direct reception of analog and complex digital signals. The advantage to choosing a
product with these modules is that no external hardware is necessary and processor
bandwidth is freed up for doing other tasks. These built-in peripherals are listed in the
following table
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Peripheral
Analog-to-Digital Converter USART.
AUSART. and EUSART CCP and
ECCP
Converts an analog voltage level into a
digital value Implements RS232.
RS485 or generic synchronous
communication
Captures the period of a signal or a
pulse width in hardware
Comparator
Operational Amplifier
Compares two analog voltage levels
On-board operational amplifier
USB
Implements USB communication
LIN
Implements LIN communication
CAN
Implements CAN
communicationParallel Slave Port
Description
Parallel Slave Port
Synchronous Serial Port
Uses 8 pins to communicate one byte
at a time toanother source
Implements I2C (slave) or SPI
(master) communication
User inputs include buttons, switches, potentiometers, touch sensors, and a variety
of other means by which a human provides input to a mechatronic system.
Temperature sensing is used in many applications. Knowing the temperature is
usually necessary for calibrating other measurements made by other sensors.
Pressure measurement devices can be classified into two groups: those where
pressure is the only source of power and those that require electrical excitation. The
mechanical style devices that are only excited by pressure, such as bellows,
diaphragms, bourdons, tubes or manometers, are usually suitable for purely
mechanical systems. With these devices a change in pressure will initiate a
mechanical reaction, such as a change in the position of mechanical arm or the level
of liquid in a tube.
Position sensing can be done in a variety of different ways. A robot, for instance, may
sense its position through infrared ranging, by counting wheel revolutions, or
triangulation based on the reception of several signals. Speed can be measured
using the same methods. The following document give details about position and/or
speed sensing.
Object ranging is essential in many types of systems. One of the most popular
ranging techniques is ultrasonic ranging. Ultrasonic ranging is used in a wide variety
of applications including: ? Autofocus cameras ? Motion detection ? Robotics
guidance ? Proximity sensing ? Object ranging This application note describes a
method of interfacing PIC16CXXX microcontrollers to the Polaroid 6500 Ranging
Module. This implementation uses a minimum of microcontroller resources, a CCP
module and two I/O pins. The two major components of the system are: ?
Microcontroller ? Polaroid 6500 Ranging Module The microcontroller performs the
intelligence and arithmetic functions for ultrasonic ranging, while the Polaroid 6500
Ranging Module performs the ultrasonic signal transmissions and echo detection.
Transmitting and receiving data via a communication interface of some type is a very
broad topic. A communication interface may be between two microcontrollers,
between a PC and a microcontroller, or between a sensor and microcontroller.
Application Maestro Software
The Microchip Application Maestro™ Software is a stand- alone software tool to
configure and incorporate a range of pre- written firmware modules into your
applications. Its heart is a collection of modules developed by Microchip Technology
for use with its PICmicro devices. Starting from a graphic interface, select one or
more available modules, then configure the parameters listed. When this is complete,
the Application Maestro Software generates code that can be incorporated into the
application project, using Μ Ρ LAB® IDE or any compatible development
environment. It is important to note that the Application Maestro Software is not a
plug-in or add-on to the MPLAB line of development tools.
Application Maestro Software also differs from other librarian systems because it
does more than archive and manage related files for a single software project.
Instead, it manages a library of ready-to-configure modules that can be customized
to the application, and creates the necessary files for inclusion in the project on
demand. Application Maestro Software is a repository of pre-written software
solutions that are optimized for the many peripheral features of Microchip controllers.
It is no longer necessary to spend hours digging through code archives or
documentation, trying to find the source code for an RS-232 serial communication
port or CAN engine, then manually adding it to a new project. Nor do you have to reinvent a block of application code when you can't find that one elusive archive. With
the Application Maestro Software, it's all in one place.
2. The most basic output on a PIC microcontroller is a digital output pin. In order to
generate complex digital signals or analog signals, external hardware and/or
microcontroller bandwidth are required. External hardware may consist of passive
components (resistors, capacitors, and inductors) or include active components
(operational amplifiers. A/D converters, etc.) Microchip offers a broad portfolio of
stand-alone analog and interface products.
Many PIC microcontrollers have built-in peripherals that allow for the direct
generation of analog and complex digital signals. The advantage to choosing a PIC
microcontroller with these modules is that no external hardware is necessary and
microcontroller bandwidth is freed up for doing other tasks. These built-in peripherals
are listed in the following table.
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Peripheral
Analog-to-Digital Converter
USART. AUSART. and EUSART
CCP and ECCP
Comparator
Operational Amplifier
USB
LIN
CAN
Parallel Slave Port
Synchronous Serial Port LCD
Description
Converts an analog voltage level into
a digital value Implements RS232.
RS485 or generic synchronous
communication
Generates PWM waveform
Compares two analog voltage levels
On-board operational amplifier
Implements USB communication
Implements LIN communication
Implements CAS communication
Uses 8 pins to communicate one byte
at a time to another source
Implements I2C™ (slave) or
SPI™ (master) communication
Directly drives the segments of an
LED
The job of displays is to provide the user with feedback about system parameters. A
display can be as simple as a single LED or more complex like and LCD or sevensegment display.
Microchip's LCD PIC microcontroller family is a Flash-based, power managed family
of LCD-enabled microcontrollers. Microchip's LCD PIC microcontroller family meets
low power design requirements including driving the LCD display in sleep mode while
maintaining desired functional features. With the ability to select from an array of
available LCD PIC microcontrollers, a designer can provide additional value by
creating scalable designs and products. This gives the designer flexibility to offer
different solutions based on the demand of varying market segments all from a single
design.
The new PIC18F87J93 8-bit direct LCD-drive MCUs feature up to 16 channels of 12bit Analog-to-Digital Converter (ADC), the mTouch™ Charge Time Measurement
Unit (CTMU) peripheral for capacitive touch sensing, and a hardware Real-Time
Clock and Calendar (RTCC). With its enhanced analog functionality and nch
peripheral set, the PIC18F87J93 family enables the highly-precise measurements
and sensors, as well as the high levels of integration that medical and metering
applications require
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AC Induction Motor
Brushless DC Motor
Brush DC Motor
Permanent Magnet
Synchronous Motor
Stepper Motor
Switched Reluctance
Motor
A triac is a three-terminal AC switch. Triac control is used for dimming lights,
controlling the speed of universal motors, and in other applications that require
controlling current to an AC device.)
Pulse width modulation is one of the most widely used and versatile output
techniques available to the embedded designer. This technique is used to generate
analog voltage levels and waveforms, implement speed control, and transmit data.
Pulse width modulation consists of a digital signal of fixed period (the low to high
transition occurs at a fixed time interval.) The width (W) of the pulse varies between 0
sec and the period (T). The duty cycle (D) of the signal is the ratio of the pulse width
to period.
A PWM signal can be generated is several ways using a PIC microcontroller. The
most basic method is to write source code than manually toggles at pin. For simple
applications this method will suffice. However, more complex applications can not
afford the microcontroller bandwidth needed to implement the software toggling
method. Microchip microcontrollers equipped with a CCP and ECCP module have a
hardware PWM generator build in. The designer simply configures the duty cycle and
frequency and these modules take care of the rest 3. Providing power to the
microcontroller is one consideration when designing a mechatronic system. If a
microcontroller is being designed into a product that was purely mechanical in
previous designs this may pose a challenge. Most of these challenges have been
addressed by Microchip engineers who have published application notes and
technical briefs in order to pass their knowledge onto you. This webpage lists these
documents for you by power source.
PIC microcontrollers are frequently designed into home appliances and other wall
powered devices (i.e. drills, garage door openers, shop tools.) The following
documents describe how to convert a high-voltage AC source into the required DC
voltage for powering a PIC microcontroller.
In most non-battery applications, the power to the microcontroller is normally
supplied using a wall mounted transformer, which is then rectified, filtered and
regulated. In most applications, this method of generating the regulated voltage is
cost effective and can be justified. However, there are applications where the
PIC12/16/17 is the main controller and low voltage is not required by other
components except the PIC12/16/17. In these instances, the cost of the transformer
becomes the sizable cost factor in the system. Transformerless power supplies, thus,
have a distinct advantage in cost as well as in size. The disadvantages of using a
transformerless power supply are: (1) low current supply and (2) no isolation from the
AC line voltage. The PIC12/16/17 microcontrollers draw a maximum of 10 mA. even
at the highest frequency and voltage of operation, therefore low current availability is
not an issue. AC line voltage isolation can be addressed by using MOVs or transient
suppressors on the PIC12/16/17.
DC applications range from battery powered devices to devices with regulated DC
supplies. Microchip offers low power microcontroller solutions for all DC applications.
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3. Signal conditioning refers to converting or altering a signal into a signal that is
usable by the next step in the process. A low-pass filter, for instance, reduces
high frequency noise so that the signal is better processed by a controller. This
section will list the tools and products available from Microchip for your signal
conditioning needs.
Analog-to-digital conversion is used to transform an analog quantity into digital.
The Analog-to-Digital converter (A/D) is the primary tool that allows analog signals to
be quantized into the world of digital electronics. Once the signal is digitally
represented, it can be stored, analyzed and manipulated by a variety of logic devices.
The PIC16C7X microcontrollers have an A/D integrated onto the PIC16CXX core
processor. Utilizing Microchips A/D requires only a basic level of understanding to get
a result. However, maximizing the effectiveness of the A/D for each specific
application requires a higher level of thought and understanding. Typically, a
thorough comprehension of a device is obtained through experience, studying data
sheets and studying application notes for a reasonable amount of time. This article
addresses the main technical considerations for an effective design to reduce your
design time.
Digital-to-analog conversion is used to create a precise analog voltage. An analog
output may be used to run a motor, create a precise supply voltage, or generate a
sinusoidal waveform. Microchip offers stand-alone digital-to-analog converters
Pulse Width Modulation (PWM) modules, which produce basically digital waveforms,
can be used as cheap Digital-to-Analog (D/A) converters only a few external
components. A wide variety of microcontroller applications exist that need analog
output but do not require high resolution D/A converters. Some speech applications
(talk back units, speech synthesis systems in toys, etc.) also do not require high
resolution D/A converters. For these applications. Pulse Width Modulated outputs
may be converted to analog outputs. Conversion of PWM waveforms to analog
signals involves the use of analog low-pass filters
Microchip provides free software that simplifies active filter design. FilterLab®
provides full schematic diagrams of the filter circuit with component values and
displays the frequency response. More information on analog filtering can be found in
the following resources
Analog filters can be found in almost every electronic circuit. Audio systems use them
for preamplification, equalization, and tone control. In communication systems, filters
are used for tuning in specific frequencies and eliminating others. Digital signal
processing systems use filters to prevent the aliasing of out-of-band noise and
interference.
Operational amplifiers are an integral part of analog design and filtering. Microchips
offers a wide assortment of operation amplifiers (op amps) and programmable gain
amplifiers (PGAs). Programmable gain amplifiers are operational amplifiers that are
digitally configurable.
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A comparator compares one analog voltage against another. Microchip offers a
variety of stand-alone comparators
Microchip manufactures several voltage-to-frequency/ frequency-to-voltage
converters. The following document gives details on interfacing these devices to a
PIC microcontroller
One of the most difficult circuits to build is one which will divide one analog signal by
another. Two voltage-to-frequency (V/F) converters can do such division with ease.
The numerator is counted directly as a signal, while the denominator forms the time
base.
4. The section gives information on the different types of closed loop control
algorithms commonly implemented using a PIC® microcontroller. These control
algorithms stabilize a system at the desired setpoint. An example of such as
system is the cruise control on a car. The cruise control keeps the car at a set
speed over varying loads and road conditions.
PID stands for proportional, integral, and differential. These three terms refer to the
way in which the error, or the difference between the desired and actually output, in
the system is analyzed.
Digital filtering is used to remove noise from or reshape a signal. Digital filtering
algorithms can be as simple as a running average routine or as complex as finite
impulse response digital filtering
Complex control may require implementing math routines in source code. The
documents below include source code for commonly used math routines
This application note provides some utility math routines for Microchip's PIC16C5X
and PIC16CXXX series of 8-bit microcontrollers. The following math outlines are
provided: • 8x8 unsigned multiply • 16x16 double precision multiply • Fixed Point
Division (Table 3) • 16x16 double precision addition • 16x16 double precision
subtraction • BCD (Binary Coded Decimal) to binary conversion routines • Binary to
BCD conversion routines • BCD addition • BCD subtraction • Square root These are
written in native assembly language and the listing files are provided
This application note presents implementations of the following math routines for the
Microchip PICmicro microcontroller family: square root function, exponential function,
base 10 exponential function, natural log function, common log function,
trigonometric sine function tngonometric cosine function trigonometric sine and
cosine functions power function, floor function, largest integer not greater than x, as
float, floating point logical comparison tests integer random number generator.
3.2 Exercise A
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Fill in the diagram below with the components of a mechatronics system
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3.3 Exercise Β
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Fill in the boxes below as follows:
Row A - the components of a mechatronics system, Rows b,c,d,e,f,g -the devices or
methods used to support these components
A
b
c
d
e
f
g
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3.4 Exercise C
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Find the terms in the text that match the following definitions
1. A mechanical, optical, or electronic system that is used to maintain a desired
output.
2. Processing the form or mode of a signal so as to make it intelligible to or
compatible with a given device, such as a data transmission line, including such
manipulation as pulse shaping, pulse clipping, digitizing, and linearizing.
3. A branch of engineering that incorporates the ideas of mechanical and electronic
engineering into a whole, and, in particular, covers those areas of engineering
concerned with the increasing integration of mechanical, electronic, and software
engineering into a production process.
4. Something put into a system or expended in its operation to achieve output or a
result, especially:
5. A microcomputer, microprocessor, or other equipment used for precise process
control in data handling, communication, and manufacturing.
6. The information produced by a program or process from a specific input
7. One that activates, especially a device responsible for actuating a mechanical
device, such as one connected to a computer by a sensor link.
8. A control system that appears to be self-regulating. Closed-loop systems employ
feedback and a reference of correctness (norm or set point). Deviations from the
norm are detected and corrections made in order to maintain a desired state in
the system.
9. The return of a portion of the output of a process or system to the input,
especially when used to maintain performance or to control a system or process.
10. An amplifier having high direct-current stability and high immunity to oscillation,
generally achieved by using a large amount of negative feedback; used to
perform analog-computer functions such as summing and integrating.
11. An electric device consisting of one or more turns of wire and typically having two
terminals. An inductor is usually connected into a circuit in order to raise the
inductance to a desired value.
12. The layout of an application's graphic or textual controls in conjunction with the
way the application responds to user activity:
13. The amount of data that can be passed along a communications channel in a
given period of time.
14. One that processes, especially an apparatus for preparing, treating, or converting
material
15. Any of various instruments for comparing a measured property of an object, such
as its shape, color, or brightness, with a standard.
16. An interface found on some PIC microcontrollers It allows 8-bit asynchronous
bidirectional data transfer between the PIC and external devices, such as other
microcontrollers or personal computers.
17. A serial interface that can transfer data at up to 480 million bits per second and
connect up to 127 daisy-chained peripheral devices
18. A device, usually electronic, which detects a variable quantity and measures and
converts the measurement into a signal to be recorded elsewhere.
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19. A portion of a program that carries out a specific function and may be used alone
or combined with other modules of the same program.
20. The process of establishing target distance.
21. A surveying technique in which a region is divided into a series of triangular
elements based on a line of known length so that accurate measurements of
distances and directions may be made by the application of trigonometry.
22. Computer programming instructions that are stored in a read-only memory unit
rather than being implemented through software.
23. A motor that rotates in short and essentially uniform angular movements rather
than continuously; typical steps are 30,45, and 90°;
24. The restriction of an observable quantity, such as energy or angular momentum,
associated with a physical system, such as an atom, molecule, or elementary
particle, to a discrete set of values.
25. A commonly used technique for controlling power to inertial electrical devices,
made practical by modern electronic power switches. Pulse-width modulation
uses a rectangular nulse wave whose pulse width is modulated resulting in the
variation of the average value of the waveform.
26. A device used to transfer electric energy from one circuit to another, especially a
pair of multiply wound, inductively coupled wire coils that effect such a transfer
with a change in voltage, current, phase, or other electric characteristic.
27. The fineness of detail that can be distinguished in an image, as on a video
display terminal.
28. The appearance of jagged distortions in curves and diagonal lines in computer
graphics because the resolution is limited or diminished OR the static distortion in
digital sound caused by a low sampling rate.
29. An electronic amplifier (typically an operational amplifier) whose pain can be
controlled by external digital or analog signals.
30. To convert (data) from fixed-point notation to floating-point notation.
3.5 Exercise D
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Using information from the text (and possibly of your own), make a paragraph
of your own describing what a mechatronics system is.
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