UNIT I Mechatronics, Sensors and Transducers

Introduction to Mechatronics Systems

What is Mechatronics? Elements of Mechatronics Systems Types of Mechatronics Systems Examples of Mechatronics Systems Advantages and Disadvantages of Mechatronics Systems

Measurement Systems
What is a Measurement System? Elements of a measurement system Examples of a measurement system

Control Systems
What is a control system? Elements of a control system Examples of a control system

Types of control systems i) ii) Open loop Closed loop or feedback

Open loop control system What is an open loop control system? Elements of an open loop control system Advantages and Disadvantages of an open loop control system

Closed loop control system What is a closed loop system? Elements of a closed loop system Examples of a closed loop system Advantages and Disadvantages of a closed loop system

Comparison between open loop and closed loop control systems Automatic Control Systems What is an automatic control system? Examples of automatic control systems

Sequential Controllers What is a sequential controller? Examples of sequential controllers

Microprocessor based controllers

What is a microprocessor? What is a microcontroller? Basic structure of a PLC Examples of Microprocessor based controllers c4444

Sensors and Transducers

What is a sensor? Classification of sensors Measurement objectives

Performance Terminology
Static characteristics Dynamic characteristics

Displacement Sensors
Potentiometer displacement sensor Strain gauge displacement sensor Capacitive displacement sensor Inductive displacement sensor

Position Sensors
Potentiometer Capacitive sensor Inductive position sensor (LVDT) Hall effect sensor Photoelectric sensor Optical encoder

Proximity sensors
Optical encoders Hall effect sensor Capacitive sensor Eddy current proximity sensor Inductive proximity sensor Penumatic proximity sensor Proximity switches

Velocity and Motion Sensors

Incremental encoder Tachogenerator Pyroelectric sensors

Force Sensors
Strain gauge load cell

Fluid pressure sensors

Diaphragm pressure sensor Capsule pressure sensor Bellow pressure sensor Bourdon tube pressure sensor Piezoelectric sensor Tactile sensor

Liquid flow sensors

Orifice meter Venturi meter Turbine flow meter

Liquid level sensors

Gauge glass Floats Differential pressure liquid level detector

Temperature sensors
Bimetallic strips Resistance Temperature Detectors (RTDs) Thermistots Thermocouples Thermodiodes and Transistors

Light sensors
Photoresistor Photodiode Phototransistor

Selection of sensors
Factors considered while selecting sensors

UNIT II Actuation Systems

Peumatic and Hydraulic Systems
Introduction to pneumatic systems Basic elements of pneumatic systems Introduction to hydraulic systems Basic elements of hydraulic systems

Directional Control Valves (DCVs)

What is a directional control valve? Common forms of DCVs i) Sliding spool valve ii) Rotary spool valve iii) Poppet valve Valve symbols Pilot operated valves Directional Valve / Non return valve / Check valve Pressure control valves Process control valves

Rotary Actuator
What is a rotary actuator? Vane Actuator Rack and pinion actuator

Mechanical Actuation Systems

What is a mechanical actuation system? Primary functions of mechanical actuation system

Cams
What is a cam? Working principle of cam and follower Types of cam Tpes of cam followers

Gear Trains
What is a gear train? Advantages and Disadvantages of ___________ Types of gears\ Types of gear train

Ratchel and pawl

What is Ratchet and pawl? Examples

Belt and chain drives

What is a belt drive? Advantages of belt drive Types of belt drive Types of belts What is a chain drive? Advantages and Disadvantages of belt and chain drives

Bearings
What is a bearing? Types of bearings Selection of bearings

Electrical Actuation Systems

What is an electrical actuation system? Elements of an electrical actuation system

Mechanical Switches
What is a mechanical switch? Relays

Solid state switches

Diodes Thyristors TRIACs Bipolar transistors Power MOSFETS

Solenoids
What is a solenoid? Construction of a solenoid

DC Motors
What is a DC Motor? Principle, Construction, Working Permanent magnet DC Motor DC Motors with field coils i) Series wound ii) Shunt wound iii) Compound wound iv) Separately excited motor Control of DC Motors

Brushless permanent magnet DC Motor

AC Motors
Single phase squirrel cage induction motor (Construction, working, merits) Three phase induction motors Synchronous motors

Stepper motors
What is a stepper motor? Classification i) Variable reluctance ii) Permanent magnet iii) Hybrid Specifications Stepper Motor Control

UNIT III System Models and Controllers

Basic system model
Introduction to basic system model Examples

Building blocks of mechanical system

Two groups i) Translational ii) Rotational Translational systems Rotational systems Building of a mechanical system

Building blocks of electrical system

What are the building blocks of an electrical system? Mesh analysis i) Resistor Inductor (R-L) system ii) Resistor Capacitor (R-C) system iii) Resistor Inductor Capacitor (R.L.C) system

Building blocks of fluid system

Hydraulic system Pneumatic system

Building blocks of thermal system

What are the building blocks of a thermal system? Building of thermal system

Rotational Translational systems

Rack and pinion system

Electromechanical systems
Potentiometer DC Motor

Hydraulic Mechanical System

What is a hydraulic mechanical system? Example

Continuous and Discrete process controller

Clock based system Event based system Lag

Steady state error

Control Modes
What is a control mode? Types of control modes

Two step mode / Two position or ON/OFF mode

What is a two step mode? Block diagram Advantages

Proprtional Control Mode

What is a proportional control mode? Block diagram Merits

Deriative Control Mode

What is a derivative control mode? Proportional Derivative control mode

Integral Control Mode

What is an integral control mode? Proportional Integral control mode

PID Controller
What is a PID controller? Block diagram

Digital Control
Block diagram

Velocity Control
Block diagram

Adaptive Control
What is an adaptive control? Gain scheduled control Self tuning control Model reference adaptive system

Digital Logic Control

Review of number system Codes i) Weighted binary ii) Non-weighted binary iii) Error detecting iv) Error correcting

v) Alpha-numeric Boolean Algebra Combinational circuits Sequential circuits Counter Logic gates Magnitude Comparator Encoder Decoder Code converters

Microprocessor Control
What is a microprocessor control? Structure Applications

UNIT IV Programming Logic Controllers

Programming Logic Controllers
What is a PLC?

Basic structure
Block diagram of PLC

Input / Output processing

Input modules (Interfaces) Output modules (Interfaces) Various Input and Output devices Methods of I/O processing i) Continuous updating ii) Mass input / output copying

PLC Programming
What is a ladder diagram? Proper construction of ladder diagram Process scanning considerations Logic functions Latching Sequencing

Mnemonics
What is Mnemonics? Mitsubishi Menmonics

Timers
What is a timer? Delay ON timer Cascaded timer ON-OFF cyclic timer Delay OFF timer

Internal Relays
What is an internal relay?

Counters
What is a counter? UP and DOWN counter

Shift Registers
What is a shift register?

Common applications

Master and Jump Control

What is Master and Jump control? Master control circuit Jump control circuit

Data handling
Data transfer operations Data comparison instructions Arithmetic operations Code conversion

Analog Input / Output

Block diagram

Selection of a PLC
Criterias to be considered

UNIT V Design of Mechatronic Systems

Stages in designing Mechatronics System
Stages involved in design process

Traditional and Mechatronic design

Comparison Examples

Possible Design Solutions

Timed switch Windscreen wiper motion Weighing scale

Case studies of Mechatronics systems

Pick and place robot Automatic car park barrier Engine management system

Advantages and Disadvantages of Mechatronics Systems over traditional systems