Modeling and Design Methodology for Mechatronic Systems

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Modeling and Design Methodologyfor Mechatronic
Systems
Refrence IEEE/ASME TRANSACTIONS ON MECHATRONICS,
VOL. 1, NO. 1, MARCH 1996

• Lecture 1
• By Dr. Muhammad Shafiq
• Feb. 14,2006

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Introduction
Fig. 1. Integration of mechanics, electronics,
and information technology leads to mechatronic
systems.
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Mechatronics and Conventional Design
Fig. 2. Relations during design of a mechatronic
system. (a) Conventional procedure. (b)
Mechatronic procedure.
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Examples of Mechatronics System

• 1. Mechanical Elements with Integrated
  Electronics
• suspension systems
• vibration dampers
• clutches, elastic or with friction
• bearings, mechanical or magnetic
• gears, mechanical (tooth-, chain-, belt-gears).
• The properties which can be improved include the
  following
• adaptive stiffness or damping
• adaptive adjustment of backlash or pretension
• automatic kinematic functions
• feedback control
• supervisory functions.

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Examples of Mechatronics

• Machines with integrated Electronics
• power-producing machines like electrical drives,
  pneumatic and hydraulic drives, water-, steam-,
  gas-turbines, combustion engines, etc.
• power-consuming machines like generators, pumps,
  compressors, machine tools, robots, printing
  machines, etc.
• vehicles, like automobiles, ships, aircraft.

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Examples of Mechatronics

• Precision Mechanics with integrated Electronics
• devices for telecommunication
• consumer electronics
• data processing devices
• sensors and actuators
• optical devices
• medical devices.

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Possible improvement in the system using
mechatronics concepts

• precise speed control for all operating
  conditions
• simpler kinematics by decentralized drives
• control of nonmeasurable but reconstructed or
  estimated variables
• operation in unstable or dangerous boundary
  areas
• adaptive damping of oscillations or unbalance
• optimization of efficiencies or pollutions
• supervision with fault diagnosis
• anti blockage or slip control
• overall process management.

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Definition of Mechatronics An important note

• These examples show that the integration with
  electronics comprises many classes of technical
  systems. In a large number of cases the
  mechanical part of the process is coupled with an
  electrical, thermodynamical, chemical, or
  information- processing part. The reason is that
  machines and devices are energy transformers
  where in addition to the mechanical energy other
  kinds of energy appear. The nonmechanical parts
  are then coupled with the mechanical part subject
  to the functions and signal flow. Therefore
  mechatronic systems in a wider sense can be
  defined as an integration of
• Mechanical and coupled processes
• electronics
• information technology.

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Ways of Integration
Fig. 3. Ways of integration within inechatronic
systems (a) Generation scheme of a (classical)
mechanical-electronic system. (b) Integration
of cOmponents (hardware-integration). (c)
Integration of information processing
(software-integration).
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