MECHATRONICS SYSTEMS
2014/2015
MECHATRONIC SYSTEMS
Jadranko Matuško
Fetah Kolonić
DESIGN OF MECHATRONIC SYSTEMS
Sveučilište u Zagrebu
Vizualni identitet
Priručnik grafičkih standarda
Znak
Sinteza
1.3.
Osnovni element sustava vizualnog identiteta Sveučilišta
u Zagrebu je znak, odnosno karakteristični “pečat”
s dugom povijesnom tradicijom i bogatim nasljeđem.
U redizajniranom sustavu znak je osuvremenjen.
Osnovni grafički elementi su pažljivo nanovo
konstruirani te pojednostavljeni ne bi li se poboljšala
čitljivost i jasnoća u reproduciranju, odnosno
aplikacijama predviđenim osnovnim grafičkim
standardima. U novom znaku pročelju zgrade
Sveučilišta dodana je skulptura Ivana Meštrovića
Povijest Hrvata.
Znak (verzija 1) je element sustava vizualnog identiteta
Sveučilišta u Zagrebu, koji pripada isključivo Rektoratu
odnosno Senatu Sveučilišta u Zagrebu. Smješten je na
okrugli oblik i apliciran u negativu. Novim izgledom
znak se vizualno odmaknuo od pečata, dobio na snazi,
ali je i dalje zadržao svoju povijesnu ulogu.
Znak (verzija 2) je element je sustava vizualnog
identiteta Sveučilišta u Zagrebu, predviđen za
korištenje znaka Sveučilišta kao dijela vizualnog
identiteta pojedine sastavnice Sveučilišta u Zagrebu.
Aplicira se isključivo u pozitivu u sivoj ili crnoj boji na
bijeloj podlozi.
October 16, 2014
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MECHATRONICS SYSTEMS
Mehatronički dizajn - osnovni pojmovi
2014/2015
MECHATRONIC DESIGN
Definicija
Design is considered to be the process of the developPod pojmom dizajna podrazumjeva se proces razvoja nekog proizvoda ili
ment of a system or a product, starting from the basic
sustava od načelne ideje do gotovog proizvoda, zadovoljavajući pritom
idea to the final product, satisfying in the same time all
definirana ograničenja.
the design constraints.
DIZAJN
Matuško & F.Kolonić
Matuško&Kolonić
Mehatronički sustavi
Ak. godina 2013/2014
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ARTICLE IN PRESS
Isermann / Control Engineering
Practice 16 (2008) 14–29
HISTORICAL DEVELOPMENT OF R.PRODUCT
DESIGN
integration of mechanics w
processing. This integrati
(hardware) and the inform
resulting in integrated syst
Their development involv
between the basic mech
actuator implementation,
processing and overall con
innovative solutions.’’
Hence, mechatronics i
which the following discip
(1) mechanical systems (m
precision mechanics);
(2) electronic systems (mic
sensor and actuator te
(3) information technology
automation, software e
Matuško&Kolonić
Fig. 1. Historical development of mechanical, electronic and mechatronic
The solution of tasks for
performed as well on the
electronic side. Thus, interr
important role; because the
electronic system and vice
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influence on the design
MECHATRONICS SYSTEMS
2014/2015
PRODUCT DESIGN
The product design process is primarily influenced by the
following factors:
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rapid technology development/changes,
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market competition.
For that reason good engineers need:
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permanent/lifelong learning,
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experience in multidisciplinary projects,
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excellent design and project management skills, used by
leading companies on the market.
Good designers should always use proven design processes:
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with clear justification in terms of selection of the
components.
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with suitable recommendations with respect to the source
material.
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PROPERTIES OF A WELL-DESIGNED PRODUCT
Five properties are used to evaluate the performances of the
design process:
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Quality of the product: How good is the product obtained
as a result of the design effort?
Production costs: What is the cost of the production of
one unit of the designed product?
Product development duration: How fast a development
team can conduct the development tasks?
Development costs: How much money a company need
to invest into product development?
Development possibilities: To what extent the acquired
knowledge through the design process can be used for
future product development projects
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FUNCTIONS OF MECHATRONIC SYSTEMS
Distribution of mechanical and electronic functions
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Decentralized electrical drives microcomputer based
control.
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light constructions: electronic damping (multi-car systems,
elastic robot systems, etc.).
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Linearization of nonlinear mechanism characteristics using
feedback loop (hydraulic and pneumatic actuators, valves,
etc)
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Operator adaptation using programable characteristics
(acceleration pedal, manipulators, etc).
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FUNCTIONS OF MECHATRONIC SYSTEMS
Operating properties - Process of system behavior adaptation
using feedback control systems.
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Incresed accuracy due to feedback control systems,
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Adaptive friction compensation.
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Model based and adaptive control: allows for wide range
of operations (force control, speed control, control of
vehicles).
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High control performances due to ability to drive the
system very close to the constraints (system and
operational ones).
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FUNCTIONS OF MECHATRONIC SYSTEMS
New functions - these functions would’t be possible without
using embedded computers.
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Control of non-measurable or hard-to-measure variables
(wheel slip, internal stress or temperature, damping
parameters, vehicle slip angle, etc )
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Advanced supervision and fault diagnosis.
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Fault tolerant systems with hardware or analytical
redundancy.
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Remote services for supervision, service etc.
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Flexible adaptation for changing the boundary conditions.
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Programmable functions that allow changes during the
design process as well as upon finishing the product.
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INTEGRATION IN MECHATRONIC SYSTEMS
Hardware integration
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Integration of the components (Hardware integration)
results from designing the mechatronic system as an
overall system and embedding the sensors, actuators and
micro- computers into the mechanical process.
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Spatial integration is determined by a process, sensors and
actuators.
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The integration of microcomputers and sensors leads to
the concept of intelligent(smart) sensors. Similarly by
integration of microcomputers and actuators we obtain a
so-called intelligent(smart) actuators.
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INTEGRATION IN MECHATRONIC SYSTEMS
Software integration
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Beside standard feedforward and/or feedback control
additional signal processing is perform in knowledge based
systems.
On-line signal processing is used in supervision, fault
diagnosis and optimization tasks.
Knowledge base level processes: advanced signal
processing, controller design methods, process modeling,
objective function definition.
These processes allows for the incorporation of the
knowledge into electronic and mechanical components.
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INTEGRTION IN MECHATRONIC SYSTEMS
KNOWLEDGE BASE
Mathematical
process models
Performance
criteria
Information gaining
- identification
- state observer
Design methods
- control
- supervision
- optimization
ONLINE INFORMATION PROCESSING
Control
Supervision
Diagnosis
Adaptation
Optimization
INTEGRATION OF COMPONENTS
MICRO
COMPUTER
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ACTUATORS
PROCESS
SENSORS
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TRADITIONAL DESIGN APPROACH
Specifications
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Design steps are performed
sequentially;
The optimality of individual
design steps doesn’t imply the
optimality of the final product or
system.
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If the final product is not
satisfactory the whole design
process is repeated.
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Time and financially consuming
process;
Mechanical design
Electronic design
Control system
design
Specifications
met?
NO
YES
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MECHATRONIC APPROACH TO THE DESIGN
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The main idea of the mechatronic design approach is to
perform the validation of the product that is being
designed in early phases of the development process.
Usually in early stages a simplified object is designed, that
take into account only its major properties and design the
control system for such an object.
Gradually we increase the complexity and accuracy of the
model, resulting in more detailed description of individual
system components.
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BOTTOM-UP DESIGN APPROACH
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2 PRINCIPLES OF MODELLING AND SIMULATION
Abstraction
Specification
?
System
Module 1
Submodule 1
Time
Figure 2.2
Bottom-up design process
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MECHATRONICS SYSTEMS
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BOTTOM-TO-UP DESIGN APPROACH
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Bottom-up design is the classic method of development of
electronics and mechanics.
The initial starting point is a specification, which is typically
drawn up in natural language.
Then the basic components, e.g. transistors, resistors,
capacitors or springs, masses, shock absorbers, joints, etc.
are added and combined successively to form ever more
complex and abstract creations until a complete design
emerges.
The primary advantage of bottom-up design is that the
influences of a nonideal implementation can be taken into
account at an early stage.
The biggest disadvantage is that errors and weaknesses in
the system design are not noticed until a late stage, which
can bring about considerable costs and delays
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TOP-DOWN DESIGN APPROACH
2.3
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FIELDS OF APPLICATION
System
Abstraction
Specification
Module 1
Submodule 1
Time
Figure 2.3
•
Top-down design sequence
The implementable part of the specification can be validated by simulations.
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TOP-DOWN DESIGN
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Errors and weaknesses in the system design are noticed
early, in contrast to the bottom- up approach.
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The implementable part of the specification can be
validated by simulations.
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The implementable part of the specification is available as
a precisely defined reference for the verification of the
design.
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The functional part of the specification is unambiguous
and complete (in contrast to a specification in natural
language). In the event of doubt, a simulation is run.
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The implementable specification and the models of the
individual design stages mean that full documentation is
available, which however still remains to be supplemented
by comprehensive commentary.
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V SCHEME OF MECHATRONIC
DESIGN
ARTICLE IN
PRESS
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R. Isermann / Control Engineering Practice 16 (2008) 14–29
Fig. 6. ‘‘V’’ development scheme for mechatronic systems.
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TESTING OF A MECHATRONIC DESIGN
Verification gives the answer to the following question:
"Is the product built properly?" We need to check if the
product satisfies the specifications.
Validation gives the answer to the following question: "Is
a proper product built?" We need to check if the product
works according the user’s needs/expectations.
The main goals of validation and verification:
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Discovering the systems defects.
Assessment the system usability within the range of
operation.
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