MECHATRONICS SYSTEMS
2014/2015
MECHATRONIC SYSTEMS
Jadranko Matuško
Fetah Kolonić
INTRODUCTION TO 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.
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COURSE ORGANIZATION
Lecturers:
I
I
Prof.dr.sc. Fetah Kolonić
Assoc.prof.dr.sc. Jadranko Matuško
Teaching asisstant:
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Šandor Ileš, B.Sc.E.E.
Weekly load:
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2+0
Schedule:
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Wednesday, 14-16 h
Room:
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C4-17 (building C, FER, 4th floor).
Course website:
I
Matuško&Kolonić
http://www.fer.hr/predmet/mehsus_a
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COURSE ORGANIZATION
I
The lectures will be organized in the first part of the
semester (7 lectures), followed by the midterm exam.
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In the rest of the semester the students will work on their
projects.
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Project groups will consist of 2-3 students.
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2014/2015
GRADING SYSTEM
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DEFINITION OF MECHATRONICS
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The term mechatronics was coined by Tetsuro Mori, an
engineer from Japanese company Yaskawa, in late sixties
of the 20th century, to describe the combination of
mechanics and electronics.
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In the following decades the definition was further
extended to include computer engineering, so today
mechatronics is commonly is defined as synergistic
combination of mechanical, electrical and computer
engineering.
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Beside this definition of the mechatronics, other definition
are also used.
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DEFINITION OF MECHATRONICS
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Mechatronics is the synergistic integration of precision
mechanical engineering, electronics, computational
hardware and software in the design of products and
processes.
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Mechatronics is the synergistic combination of mechanical
engineering(mecha for mechanisms), electronic
engineering(tronics for electronics), and software
engineering.
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Mechatronics is Knowledge Driven Motion.
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The synergistic integration of precision mechanical
engineering, electronic control and systems thinking in the
design of intelligent products and process.
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PRINCIPLE SCHEME OF A MECHATRONIC SYSTEM
Human-machine
interface
Information
flow
Actuator+
Amplifier
Mechanical
energy flow
Sensor
Power supply
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FUNDAMENTAL PROPERTIES OF A MECHATRONIC SYSTEM
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Matuško&Kolonić
Synergic effect; Coordinated and well-tuned work of all
the system components in order to achieve predefined
goal. An example from medicine: an augmented
medicaments effect if if they used together.
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FUNDAMENTAL PROPERTIES OF A MECHATRONIC SYSTEM
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Synergic effect; Coordinated and well-tuned work of all
the system components in order to achieve predefined
goal. An example from medicine: an augmented
medicaments effect if if they used together.
I
Integration; Integration of various engineering branches:
mechanics, electronics, computer engineering. An
example: mechanics (mechanisms), electronics (power
amplifiers, actuators, sensors), informatics (control
systems, communication).
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FUNDAMENTAL PROPERTIES OF A MECHATRONIC SYSTEM
I
Synergic effect; Coordinated and well-tuned work of all
the system components in order to achieve predefined
goal. An example from medicine: an augmented
medicaments effect if if they used together.
I
Integration; Integration of various engineering branches:
mechanics, electronics, computer engineering. An
example: mechanics (mechanisms), electronics (power
amplifiers, actuators, sensors), informatics (control
systems, communication).
I
Modularity; Makes possible an easy reconfiguration of the
system, adding new functionalities to the system as well as
changing its existing functionalities (flexibility).
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FUNDAMENTAL PROPERTIES OF A MECHATRONIC SYSTEM
I
Synergic effect; Coordinated and well-tuned work of all
the system components in order to achieve predefined
goal. An example from medicine: an augmented
medicaments effect if if they used together.
I
Integration; Integration of various engineering branches:
mechanics, electronics, computer engineering. An
example: mechanics (mechanisms), electronics (power
amplifiers, actuators, sensors), informatics (control
systems, communication).
I
Modularity; Makes possible an easy reconfiguration of the
system, adding new functionalities to the system as well as
changing its existing functionalities (flexibility).
I
System openness; The system can be easily accesed
either by a user or an other system.
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INTEGRATION IN MECHATRONIC SYSTEM
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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AN EXAMPLE OF MECHATRONIC SYSTEM - SMART MOTOR
CANOpen
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Ethernet
ProfiBus
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PRINCIPLE SCHEME OF A SMART MOTOR
Pametni motor
Napajanje
Mikrokontroler
Nadreeni
sustav
PWM
upravljanje
Komunikacijsko
suelje
Analogni
ulazi
Digitalni ili
analogni U/I
Analogni
ulazi
Pojaalo
snage
Senzori (enkoder,
Hallove sonde)
MOTOR
Senzori statusa i
grešaka
Vanjski
senzori
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AN EXAMPLE OF MECHATRONIC SYSTEM - SMART MOTOR
Properties:
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A complete servo drive consisting of electronically
commutated motor with an embedded controller, power
amplifier and encoders.
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Small dimensions.
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High resolution of the encoders (4000 impulses/revolution)
allows for an accurate control of the drive’s position.
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Easily programmable and reconfigurable.
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Communication ability
Applications:
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Robotics
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Coordinated motion problems.
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Electronic gearbox.
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AN EXAMPLE OF MECHATRONIC SYSTEM - MOBILE ROBOT
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Applications: industry, service sector, home;
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AN EXAMPLE OF MECHATRONIC SYSTEM - MOBILE ROBOT
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Applications: industry, service sector, home;
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Autonomy;
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AN EXAMPLE OF MECHATRONIC SYSTEM - MOBILE ROBOT
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Applications: industry, service sector, home;
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Autonomy;
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Crucial problems in mobile robotics:: localization,
navigation and map building;
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AN EXAMPLE OF MECHATRONIC SYSTEM - MOBILE ROBOT
Ultrazvuni
senzori
Enkoder
LASER
MOTOR
MOTOR
ON-BOARD
RAUNALO
Serijska
komunikacija
Matuško&Kolonić
Bežina
komunikacija
BATERIJA
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AN EXAMPLE OF MECHATRONIC SYSTEM - MOBILE ROBOT
What makes mobile robot a mechatronic system?
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Mechanical part: Mobile robot has to constructed by
taking into account its foreseen applications as well as
economic aspects.
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AN EXAMPLE OF MECHATRONIC SYSTEM - MOBILE ROBOT
What makes mobile robot a mechatronic system?
I
Mechanical part: Mobile robot has to constructed by
taking into account its foreseen applications as well as
economic aspects.
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Electrical/electronic part: Motors and power supply for
on-board computer and motors.
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MECHATRONICS SYSTEMS
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AN EXAMPLE OF MECHATRONIC SYSTEM - MOBILE ROBOT
What makes mobile robot a mechatronic system?
I
Mechanical part: Mobile robot has to constructed by
taking into account its foreseen applications as well as
economic aspects.
I
Electrical/electronic part: Motors and power supply for
on-board computer and motors.
I
Computer part: On-board computer and sometimes
controllers for motors, separate from on-board computer.
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AN EXAMPLE OF MECHATRONIC SYSTEM - MOBILE ROBOT
What makes mobile robot a mechatronic system?
I
Mechanical part: Mobile robot has to constructed by
taking into account its foreseen applications as well as
economic aspects.
I
Electrical/electronic part: Motors and power supply for
on-board computer and motors.
I
Computer part: On-board computer and sometimes
controllers for motors, separate from on-board computer.
I
Communication part: Available communication
interfaces (e.g. RS-232), wireless communication.
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AN EXAMPLE OF MECHATRONIC SYSTEM - MOBILE ROBOT
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Antilock Brake System (ABS) is often considered as one of
the oldest and the most widely used mechatronic system.
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The primary goal of the ABS is to maintain
controllability/drivability of the vehicle in critical
situations by preventing the vehicle wheels to lock during
braking operation.
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ABS action doesn’t necessarily lead to the shortening of the
stopping path length!
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HISTORICAL DEVELOPMENT OF ABS
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AN EXAMPLE OF MECHATRONIC SYSTEM - ABS
Voza pritiše papuicu
konice
1
6
7
8
Matuško&Kolonić
2
Gibanjem klipa raste
tlak u koionom sustavu
3
Koione obloge pritišu
disk proporcionalno
tlaku u sustavu
Tekuina utjee u
spremnik. Smanjuje se
tlak u konicama
ECU
Tekuina se pomou crpke
ponovno utiskuje u koioni
sustav. Raste tlak.
Koraci 6 i 7 ponavljaju
10-15 puta u sekundi
5
Elektronika upravljaka
jedinica upravlja
spremnikom i crpkom.
4
Senzor detektira kada
kota poinje
proklizavati
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AN EXAMPLE OF MECHATRONIC SYSTEM - SEGWAY
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Segway is modern transportation
system which is widely considered
as the most typical mechatronic
system.
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Segway operation as an analogy
with human behavior: if a man leans
forward his sensors situated in its
inner ear detects this change and he
makes the move to prevent falling
down, i.e. he makes a step forward.
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In the case of segway the role of
inner ear sensor is taken by the
system of gyroscopes, while its
"muscles" are the motors connected
to the wheels.
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AN EXAMPLE OF MECHATRONIC SYSTEM - SEGWAY
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The system of 5 gyroscopes suitably
mounted with the aim to detect the
slope and slope change (i.e. speed)
in each direction.
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Electronically commutated motors,
1.5 kW.
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Gearboxes;
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Two control board, with 10 CPUs,
that work in parallel where each
control board is able take the total
control over the system if other
board fails - hardware redundancy.
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2 NiMH or Li-ion battery that allows
for the autonomy of 40 km;
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