MECHATRONICS

Course Objective
After the completion of this course, students will be able to understand working principle of necessary components required for mechatronic systems and their applications in system designing.

1. Introduction (5 hours)
1. Evolution, Scope, Components of Mechatronic Systems,
2. Overview of Mechanical, Hydraulic & Pneumatic Actuators.
3. Control Systems:
4. Automatic Control,
5. Open Loop and Closed Loop Control,
6. Servomechanism,
7. Block Diagram Algebra,
8. Concept of Transfer Function. System Modeling:
9. Mechanical, Electrical, Fluid Systems, D.C. Motor, Hydraulic Motor.
10. Types of Standard Inputs (Signals),
11. Time Response Specifications Of First & Second Order Systems,
12. Modes of Control: on/off, P, Pi, Pd and Pid


2. Sensors & transducers (5 hours)
1. Performance, Terminology, Characteristics, Types, Binary and Analog.
2. Position Sensors:
3. Limit Switch, Photoelectric Switches, Proximity Sensors, Pneumatic Limit Valves
4. Backpressure Sensors, Pressure Switches, Resolvers, Incremental & Absolute Encoders, Decoders & Relays.
5. Displacement: Potentiometer Sensors, LVDT, Capacitive Displacement Sensors.
6. Velocity Sensors: Tachogenerator, Use of Encoders


3. Electromagnetic actuators and control (6 hours )
1. Types,
2. Specifications and Control,
3. Characteristics Ac Motors:
4. Pulse Width Modulation to Control Ac Frequency,
5. Cycloconvertor for Ac Frequency Control.
6. DC Motors:
7. Brushless Dc Servomotors,
8. Timing Motors,
9. SCR (Silicon Controlled Rectifiers) Motors,
10. Factors for Selecting Motor,
11. Piezoelectric Actuators,
12. Solenoids,
13. Torque Motors.


4. Programmed control ( 4 hours)
1. Review of Logic Gates,
2. Programmable Logic Controllers (PLC):
3. Basic Structure, I/O Processing, Programming, Ladder Diagrams, Logic Functions, Latching,
4. Sequencing, Timers, Jumps, Analog I/O, Applications.


5. Signal conditioning & interfacing (5 hours)
1. Signal Conditioning Process,
2. Clock Signal, Voltage Divider, Rectification, Operational Amplifiers: Inverting and Non Inverting, Summing, Integrating, Differential, Logarithmic, Comparator.
3. Oscillators to Gener Ator Sinusoidal, Square, Triangular And Impulse Waveforms, 555 Timer, Sample and Hold, Analog To Digital And Digital To Analog Converters, Multiplexing.
4. Interfacing Input Output Ports, Serial and Parallel Interfacing Requirements, Buffers, Handshaking, Polling and Interrupts.


6. Microcontroller (5 hours)
1. Comparison between Microprocessor And Micro Controller,
2. Organization of a Microcontroller System,
3. Architecture of MCS 51 Controller,
4. Pin Diagram of 8051,
5. Addressing Modes,
6. Instruction Types and Set,
7. Applications.


7. Computer numerical control systems (6 hours)
1. Structure of CNC Controller,
2. Reference Pulse & Sampled Data Type CNC System.
1. Position And Velocity Control Loops For
1. Point To Point Control: Incremental and Absolute,Open and Closed Control Loops, Deceleration Diagram in Ptp System,Loop Comparator in Absolute Systems.
2. Continuous Path Control Loop for Position And Velocity Control, Two Axis Contouring System For Constant Frequency & Constant Velocity Commands.
2. Adaptive Control:
1. Principle, Adaptive Control for a Machine Tool,
2. Adaptive Control with Optimization (ACO) and With Constraints (ACC),
3. Applications for M/C Tools like Lathe, Grinding etc.


8. MEMS (4 hour)
1. Overview of MEMS & Microsystems,
2. Typical MEMS & Micro System Products & Applications.
1. Micro Sensors and Micro Actuators: Phototransistors, Pressure Sensors, Thermal Sensors, Micro Grippers, Micro Motors, Micro Valves, Micro Pumps.
2. Micro Manufacturing: Bulk Manufacturing, Surface Manufacturing, LIGA Process.


9. Design of mechatronic systems ( 5 hours)
1. The Design Process,
2. Traditional and Mechatronic Designs,
3. A Few Case Studies like Piece Counting System,
4. Pick and Place Manipulator,
5. Simple Assembly task involving a Few Parts,
6. Part Loading / Unloading System,
7. Automatic Tool and Pallet Changers etc.

Practical:

1. Two programs on PLC for logic, timer, counter and sequencing applications.
2. Two simple programs on microcontroller kit (8051)
3. Interfacing of stepper motor with microcontroller for position, speed and direction control.
4. Generation of wave forms (sinusoidal, square, triangular, impulse) using signal generator and CRO.
5. One exercise on PID control for position and velocity control. (AC or DC motor)
6. Industrial visit to study mechatronic system application & submission of visit report.
7. MATLAB: programming for control system exercises. (optional).

References:

1. Ogata, “Modern Control Engineering” ISBN 81-7808-579-8 (Pearson Education)
2. David, W. Pessen, “Industrial Automation”, ISBN 9971- 51-054-5, (John Wiley & Sons)
3. S. Brain Morriss, “Automated Manufacturing Systems: Sensors, Actuators” ISBN 0-07-113999-0 (McGraw Hill)
4. W. Bolton, “Mechatronics” 3/e - ISBN 981-235-874-9, Addison Wesley
5. David, G. Alciatore & Michael, B. Histand, “Introduction to Mechatronics & Measurement System”, ISBN 0-07-052908, TMH
6. Mahalik, N.P., “Mechatronics Principles, Concepts & Applications” ISBN 0-07-0483744, TMH
7. Dan Necsulescu, “Mechatronics”, ISBN 81-7808 -676 – X, Pearson Education
8. Kenneth J. Ayala, The 8051 “Microcontroller: Architecture, Programming & Applications”, 2/e ISBN – 81-900828-7,Penram International
9. Yoram Koren , “Computer Control of Manufacturing systems” ISBN 0-07-066379-3,McGraw Hill
10. Tai – Ran Hsu, “MEMS & Microsystems Design & Manufacture”, 0-07-048709, TMH

Evaluation Scheme:
The Questions will cover all the chapters in the syllabus. The evaluation scheme will be as indicated in the table below:

*There could be minor deviation in mark distribution.