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Abstract - Elevator systems offer ideal platforms for Final year graduation projects and capstone
Mechatronics engineering education. Particularly, they courses offer the student the opportunity to gain
offer an excellent opportunity for integrating the practical experience in designing and building of
various mechatronics engineering disciplines, such as: systems and of integrating the different courses
electrical motors and actuators, power electronics and
studied during the undergraduate degree ([1], [2]).
drives, control systems, system dynamics and
kinematics. This avoids the silo mentality that prevails Elevators are vertical transportation systems
in the traditional way of teaching different that use motors and power electronics for mechanical
mechatronics disciplines. movements. Various pieces of research have been
Although elevator systems have been used as published on the mechanical modelling of elevators,
learning platforms in engineering education, the use of a good example of which can be found in [14].
elevator modelling and simulation for a well-structured Elevator systems have been used as learning
design process that includes analysis and synthesis is of platforms in many engineering courses but usually
interest. Furthermore, documenting such work can help only in programming the controllers ([7], [13]). A
mechatronics educators in using these models for their
good example on using a space elevator model to
case studies in different courses.
This paper reviews a teach power electronics can be found in [8].
Simulink/SimPowerSystems based platform that was However, work that emphasize components’
built at Philadelphia University in order to allow selection, modules interactions, and system design
students to practice and understand the principles of using the modelling and simulation are very rare.
power electronics, drives systems, electrical machines The elevator simulation model described in
and control system design by modelling real life elevator this paper was built at the Philadelphia University
systems and running them. The learning outcomes during the academic year 2013/2014. One of its
achieved by the projects include enabling the students purposes was to integrate the three modules of:
to model real life electromechanical systems, tune a PID
Power Electronics and Drive Systems, Electrical
controller that controls the speed of the elevator system,
and design suitable power electronic drives to control Machines and Automatic Control systems. The
the used motor. intention is to enhance and expand the scope of the
model and use it in the future as a systematic tool
Keywords: mechatronics; education integration; within the teaching of these modules. This paper
power electronics; electrical machines; simulation; provides an overview of the model and provides
Matlab; Simulink; SimPowerSystems. some insight into the rationale for developing such a
system.
I. INTRODUCTION
The use of Simulink as an engineering
modelling tool has been discussed in a number of
The main criticism of conventional engineering references ([3], [4], [5]). This paper emphasises the
education is twofold: the pure theoretical nature of use of Simulink as an educational tool for a specific
the study material and the compartmentalisation of case study
the different courses. Adding a practical hands-on Section 2 lists the modules linked to the
dimension to the study material and integrating the elevator model. It also highlights the learning
different modules is considered a great enhancement benefits to the students. Section 3 specifies the main
to any engineering degree programme. objectives and learning outcomes. Section 4 describes
various sub-blocks of the model and the function of 2. The students must use a double bridge
each block. Some results extracted from the model driving the dc motor in order to achieve
are shown in section 5. Conclusions are drawn in driving and braking as needed.
section 6.
III. PROJECT OBJECTIVES AND LEARNING
II. APPLICABLE KNOWLEDGE DISCIPLINES OUTCOMES
The main goal of the elevator modelling and
The developed elevator model offers the students simulation project is to teach the students essential
hands on experience in a number of different skills required for mechatronic system design. The
disciplines. It also allows them to cross reference the following are the three main objectives of the
different disciplines and understand the inter- described project:
relationships among them.
The model presented in this paper is linked (but 1. To equip the students with skills to model
not limited) to the following modules that are real life electromechanical systems.
standard components of most under-graduate 2. To enable the students to design closed
mechatronic engineering degrees: control systems for electromechanical
systems.
Electrical machines and actuators. 3. To enable the students to select suitable
Power electronics and drive systems. actuators and power converters for elevator
Modeling and simulation. systems.
Control system design.
Kinematics. Upon completing this project, the students will be
able to:
Due to the practical nature of Simulink, it offers a 1. Select a suitable motor for an elevator based
hands-on platform that allows the student to build on the given parameters.
engineering systems, run them and then observe the 2. Select a suitable gearbox and sheave to
performance of the system. They can then match the speed and torque of the motor to
troubleshoot problems in the system, improve the the load.
performance and fine tune the settings of the system. 3. Design a suitable power converter to control
All of which are considered essential elements in a the speed of the motor.
successful design process. 4. Introduce a closed loop control system, add
It also provides them with the practical a PID controller and tune it.
understanding of inter-relationships among the
different disciplines. For example, students will use The motor, power drive, and power mechanism
a power electronics drive to actuate an electrical selection are an integral part of mechatronics system
motor, and can then find the system dynamics of the design [2].
overall system and tune the close loop controller to IV. DESCRIPTION OF THE MODEL
meet certain system performance requirements (in the
transient phase and in the steady state phase).
The students are also forced to deal with and This section describes the simulation model used in
solve practical problems that are not usually detail. A block diagram of the whole model is shown
addressed in the classical way of instruction, when in Figure 1. Figure 2 shows the SIMULINK model
courses are taught separately. Some examples are of the system. It follows a modular approach to
listed below: building the model. This allows the student to adopt
1. The students have to introduce a saturation a modular based approach to model building and
block into the controller in order to practice the engineering principle of piecewise
faithfully represent the fact that the power building and stepwise refinement [6]. The students
source feeding the dc motor has a finite can work in different teams, where each team
voltage level and that the motor has a finite member can independently work (in parallel) on one
value of maximum torque that it could module, while still liaising with other members of the
supply. team on the overall design of the model. This
approach teaches the students to follow the
synergistic design approach often implemented when
dealing with mechatronic systems.
The model comprises the following four main characteristics and can then select the
modules: Controller, electrical drive, DC motor and appropriate motor from manufacturer’s data
mechanical system. sheets. When the selection process is
complete, students can enter the selected
1. The Controller block. This is the motor parameters in the SIMULINK block
Proportional-Integral (PI) block that and verify the results. This motor selection
contains the PI parameters and the signal and verification skill is essential to the
pre-processing. This is directly linked to a mechatronic design process.
course in automatic control. Students learn
the effect of varying the PI parameters and 4. The Mechanical System block which
observe their result to the elevator speed contains the details of the system inertia
behaviour. Students can then analyse the (second moment of mass) referred to the low
transient and steady-state responses on the speed shaft (LSS), the passenger mass, the
elevator system. In order to get better frictional model and the implementation of
insight, the internal structure of this block is the rotational equivalent of Newton’s second
also provided to the students as shown in law applied on the LSS. This is an ideal
Figure 3. The use of the saturation block is application of a course on system dynamics.
used to demonstrate the practical issues of The internal structure of this block is shown
voltage/power limitations to the students. in Figure 9. The students can experiment
with the mechanical system responses
2. The Electrical Drive block that contains the because they have direct access to the linear
double six-pulse-controlled-rectifier bridges and rotational velocities and the linear
used for driving and braking the DC motor displacement. They can change the system
and the firing pulses generators. This is parameters (such as inertia, friction, and
very closely linked to a course on power radius), observe the curves, and analyse the
electronics and drive systems. The internal results.
structure of this block is shown Figure 4.
Due to the complexity of this block it is In SIMULINK, the Kinematics Generator block is
further subdivided into three blocks: firing used to generate the velocity profile for a one-floor
pulses generator, signal processing and the journey of 4.5 m in this case, based on specified
rectifier bridges. These three blocks are values of rated velocity, rated acceleration and rated
shown in Figure 5, Figure 6 and Figure 7 jerk. This is closely linked to a course on dynamics.
respectively. The relationship between the velocity and
acceleration is highlighted using output scope plots
3. The DC-Motor block which contains the from SIMULINK. This relationship is further linked
model of the dc motor used as the hoisting to the mathematical foundations. The internal
motor and the processing necessary to structure of this block is shown in Figure 10. As can
extract the torque from the motor and feed be seen in the figure, 8 step function blocks are
the actual speed. This is closely linked to a combined to generate the jerk profile. By integrating
course on electrical machines and actuators. the jerk profile, the acceleration profile is obtained,
The internal structure of this block is shown and by integrating the acceleration profile the
in Figure 8. During their work, students velocity profile is obtained.
calculate the required speed-torque
Figure 3: Controller.
Figure 4: Electrical drive system.
Figure 5: Firing angle and sign processing block in the drive section.
Figure 6: Firing pulses synchronisation and generation.
Figure 13: Error signal. In addition, an integrator was added to the system
output in order to observe the displacement. The
Figure 13 shows the error signal, which is the results are shown in Figure 17. Students can then
difference in speed between the reference velocity compare the velocity (Figure 11) and the
and the actual velocity. There is initially too much displacement (Figure 17) and analyze the results.
fluctuation in its value, but it eventually settles down The target displacement is 4.5m which is the vertical
to a smaller value. distance between two levels.
Actual Displacement
Reference Displacement