Difference between revisions of "BSc: Mechatronics"

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  +
 
= Mechatronics =
  
= Mechatronics =
  +
* '''Course name''': Mechatronics
  +
* '''Code discipline''':
  +
* '''Subject area''': Sensors and actuators; Robotic control; Electromechanical systems.
   
  +
== Short Description ==
−
* <span>'''Course name:'''</span> Mechatronics
  
  +
This course covers the following concepts: System design; Feedback control; Electric motor selection and control.
−
* <span>'''Course number:'''</span>
  
−
* <span>'''Knowledge area:'''</span> Sensors and actuators; Robotic control; Electromechanical systems.
  
   
−
== Course characteristics ==
 +
== Prerequisites ==
   
  +
=== Prerequisite subjects ===
  +
* CSE201 — Mathematical Analysis I: derivatives, definite and indefinite integrals
  +
* CSE202 — Analytical Geometry and Linear Algebra I & CSE204 — Analytic Geometry And Linear Algebra II: matrix operations, eigenvalues and eigenvectors.
  +
* CSE205 — Differential Equations: first- and second-order ODEs, state-space representation and modeling, concepts of stability (Lyapunov, asymptotic, exponential)
   
−
=== Key concepts of the class ===
 +
=== Prerequisite topics ===
   
−
* System design
  
−
* Feedback control
  
−
* Electric motor selection and control
  
   
  +
== Course Topics ==
−
=== What is the purpose of this course? ===
  
  +
{| class="wikitable"
  +
|+ Course Sections and Topics
  +
|-
  +
! Section !! Topics within the section
  +
|-
  +
| Dynamics and electrodynamics ||
  +
# Free body motion
  +
# Kinetic and potential energy
  +
# Differential equations of motion
  +
# Basics of linear electric circuits
  +
# Impedance
  +
|-
  +
| Electric motors ||
  +
# Electric and magnetic fields
  +
# Operating principles of DC motors
  +
# Electromechanical dynamic model of DC motors
  +
# Steady-state torque-speed characteristics, power
  +
# AC motors
  +
# Linear motors
  +
# Energy losses in electric motors
  +
|-
  +
| Transmission mechanisms and sensors ||
  +
# Rotary-to-rotary transmission
  +
# Rotary-to-translational motion transmission mechanisms
  +
# Shaft misalignments and flexible couplings
  +
# Position sensors
  +
# Velocity and acceleration sensors
  +
# Force and torque sensors
  +
|-
  +
| Control systems ||
  +
# Feedback control systems
  +
# Stabilization and trajectory tracking
  +
# Linear regulators (P, PD, PID)
  +
# Digital control (sampling, quantization)
  +
# DC motor controller tuning
  +
# Stability of dynamic systems
  +
|}
  +
== Intended Learning Outcomes (ILOs) ==
   
  +
=== What is the main purpose of this course? ===
 
Industrial requirements for modern mechatronics and robotics engineers are such that, given an automation task, they must be able to identify and model the targeted physical process or system, select appropriate sensors, actuators and transmission mechanisms to control it, and design and implement control algorithm to ensure the system achieves desired performance. Therefore, the purpose of this class is to familiarize the students with the most fundamental aspects of all the key areas described above while focusing on typical real-world exercises and examples.
  
Industrial requirements for modern mechatronics and robotics engineers are such that, given an automation task, they must be able to identify and model the targeted physical process or system, select appropriate sensors, actuators and transmission mechanisms to control it, and design and implement control algorithm to ensure the system achieves desired performance. Therefore, the purpose of this class is to familiarize the students with the most fundamental aspects of all the key areas described above while focusing on typical real-world exercises and examples.
   
−
=== Course Objectives Based on Bloom’s Taxonomy ===
 +
=== ILOs defined at three levels ===
−  
−
==== - What should a student remember at the end of the course? ====
  
−  
−
By the end of the course, the students should be able to remember and recognize
  
   
  +
==== Level 1: What concepts should a student know/remember/explain? ====
  +
By the end of the course, the students should be able to ...
 
* Various types of sensors, their pros and cons,
  
* Various types of sensors, their pros and cons,
 
* Working principles of electric actuators (DC motors),
  
* Working principles of electric actuators (DC motors),
Line 30: Line 71:
 
* Principles of controller design for mechatronic systems.
  
* Principles of controller design for mechatronic systems.
   
−
==== - What should a student be able to understand at the end of the course? ====
 +
==== Level 2: What basic practical skills should a student be able to perform? ====
  +
By the end of the course, the students should be able to ...
−  
−
By the end of the course, the students should be able to describe and explain
  
−  
 
* How to select sensors for a given application,
  
* How to select sensors for a given application,
 
* How to choose appropriate transmission mechanisms and account for their efficiency,
  
* How to choose appropriate transmission mechanisms and account for their efficiency,
Line 40: Line 79:
 
* How to tune control system for selected motor and desired performance specifications.
  
* How to tune control system for selected motor and desired performance specifications.
   
−
==== - What should a student be able to apply at the end of the course? ====
 +
==== Level 3: What complex comprehensive skills should a student be able to apply in real-life scenarios? ====
  +
By the end of the course, the students should be able to ...
−  
−
By the end of the course, the students should be able to
  
−  
 
* Drive differential equations of motion describing behavior of physical systems with several degrees of freedom,
  
* Drive differential equations of motion describing behavior of physical systems with several degrees of freedom,
 
* Calculate motor and sensor requirements for a given physical system, control task or application,
  
* Calculate motor and sensor requirements for a given physical system, control task or application,
 
* Select appropriate motor that provides enough power while avoiding overheating,
  
* Select appropriate motor that provides enough power while avoiding overheating,
−
* Tune control system for selected motor, transmission mechanism and sensor to achieve desired response and stability.
 +
* Tune control system for selected motor, transmission mechanism and sensor to achieve desired response and stability.
  +
== Grading ==
   
−
=== Course evaluation ===
 +
=== Course grading range ===
  +
{| class="wikitable"
−  
−
{|
 +
|+
−
|+ Course grade breakdown
  
−
!
  
−
!
  
−
!align="center"| '''Proposed points'''
  
 
|-
  
|-
  +
! Grade !! Range !! Description of performance
−
| Labs/seminar classes
  
−
| 20
  
−
|align="center"| 0
  
 
|-
  
|-
  +
| A. Excellent || 90-100 || -
−
| Interim performance assessment
  
−
| 30
  
−
|align="center"| 60
  
 
|-
  
|-
  +
| B. Good || 75-89 || -
−
| Exams
  
−
| 50
 +
|-
  +
| C. Satisfactory || 60-74 || -
−
|align="center"| 40
  
  +
|-
  +
| D. Poor || 0-59 || -
 
|}
  
|}
   
  +
=== Course activities and grading breakdown ===
−
If necessary, please indicate freely your course’s features in terms of students’ performance assessment:
  
  +
{| class="wikitable"
−  
  +
|+
−
The course grades are given according to the following rules: Homework assignments (4) = 20 pts, Quizzes (4) = 40 pts, Term project = 40 pts.
  
−  
−
=== Grades range ===
  
−  
−
{|
  
−
|+ Course grading range
  
−
!
  
−
!
  
−
!align="center"| '''Proposed range'''
  
 
|-
  
|-
  +
! Activity Type !! Percentage of the overall course grade
−
| A. Excellent
  
−
| 90-100
  
−
|align="center"|
  
 
|-
  
|-
  +
| Labs/seminar classes || 0
−
| B. Good
  
−
| 75-89
  
−
|align="center"|
  
 
|-
  
|-
  +
| Interim performance assessment || 60
−
| C. Satisfactory
  
−
| 60-74
  
−
|align="center"|
  
 
|-
  
|-
−
| D. Poor
 +
| Exams || 40
−
| 0-59
  
−
|align="center"|
  
 
|}
  
|}
   
  +
=== Recommendations for students on how to succeed in the course ===
−
If necessary, please indicate freely your course’s grading features.
  
   
−
=== Resources and reference material ===
  
   
  +
== Resources, literature and reference materials ==
−
Main textbook:
  
   
  +
=== Open access resources ===
−
* “Mechatronics,” Sabri Cetinkunt. John Wiley &amp; Sons., 2007.
  
  +
* “Mechatronics,” Sabri Cetinkunt. John Wiley & Sons., 2007.
−  
  +
* “System dynamics: modeling, simulation, and control of mechatronic systems,” Dean C. Karnopp, Donald L. Margolis, and Ronald C. Rosenberg. John Wiley & Sons, 2012.
−
Other reference material:
  
−  
−
* “System dynamics: modeling, simulation, and control of mechatronic systems,” Dean C. Karnopp, Donald L. Margolis, and Ronald C. Rosenberg. John Wiley &amp; Sons, 2012.
  
 
* “Mechatronics: Electronic Control Systems in Mechanical and Electrical Engineering” (6th Edition), William Bolton. Pearson Education, 2003.
  
* “Mechatronics: Electronic Control Systems in Mechanical and Electrical Engineering” (6th Edition), William Bolton. Pearson Education, 2003.
   
−
== Course Sections ==
 +
=== Closed access resources ===
   
−
The main sections of the course and approximate hour distribution between them is as follows:
  
   
  +
=== Software and tools used within the course ===
−
{|
  
  +
−
!align="center"| '''Section'''
  
  +
= Teaching Methodology: Methods, techniques, & activities =
−
! '''Section Title'''
  
  +
−
!align="center"| '''Teaching Hours'''
  
  +
== Activities and Teaching Methods ==
  +
{| class="wikitable"
  +
|+ Activities within each section
  +
|-
  +
! Learning Activities !! Section 1 !! Section 2 !! Section 3 !! Section 4
 
|-
  
|-
  +
| Homework and group projects || 1 || 1 || 0 || 1
−
|align="center"| 1
  
−
| Dynamics and electrodynamics
  
−
|align="center"| 6
  
 
|-
  
|-
  +
| Testing (written or computer based) || 1 || 1 || 1 || 1
−
|align="center"| 2
  
−
| Electric motors
  
−
|align="center"| 6
  
 
|-
  
|-
  +
| Discussions || 1 || 1 || 1 || 1
−
|align="center"| 3
  
−
| Transmission mechanisms and sensors
  
−
|align="center"| 4
  
 
|-
  
|-
  +
| Oral polls || 0 || 0 || 1 || 1
−
|align="center"| 4
  
  +
|}
−
| Control systems
  
  +
== Formative Assessment and Course Activities ==
−
|align="center"| 6
  
−
|}
  
   
−
=== Section 1 ===
 +
=== Ongoing performance assessment ===
−  
−
==== Section title: ====
  
−  
−
Dynamics and electrodynamics
  
−  
−
==== Topics covered in this section: ====
  
−  
−
* Free body motion
  
−
* Kinetic and potential energy
  
−
* Differential equations of motion
  
−
* Basics of linear electric circuits
  
−
* Impedance
  
−  
−
==== What forms of evaluation were used to test students’ performance in this section? ====
  
−  
−
<div class="tabular">
  
−  
−
<span>|a|c|</span> &amp; '''Yes/No'''<br />
  
−
Development of individual parts of software product code &amp; 0<br />
  
−
Homework and group projects &amp; 1<br />
  
−
Midterm evaluation &amp; 0<br />
  
−
Testing (written or computer based) &amp; 1<br />
  
−
Reports &amp; 0<br />
  
−
Essays &amp; 0<br />
  
−
Oral polls &amp; 0<br />
  
−
Discussions &amp; 1<br />
  
−  
−  
−  
−
</div>
  
−
==== Typical questions for ongoing performance evaluation within this section ====
  
−  
−
# Find kinetic and potential energy of a given physical system.
  
−
# Write differential equations of motion of a mechanical system.
  
−
# Find system transient response when external force is applied.
  
−
# Solve for voltages and currents in a given electric circuit.
  
−
# Find electric power produced by individual circuits’ components.
  
−  
−
==== Typical questions for seminar classes (labs) within this section ====
  
−  
−
# In MATLAB or other software, do the following for a second-order system:
  
−
#* Write a program to simulate its dynamics;
  
−
#* Plot step response and find its parameters;
  
−
#* Calculate and plot system energy with time.
  
−
# Find and analyze frequency response (Bode plot) of a dynamic system.
  
−
# Find impedance of a given linear electric circuit.
  
−
# Write differential equations describing voltages and currents of dynamic circuit.
  
−
# How does electric energy exchange in an RLC circuit?
  
−  
−
==== Test questions for final assessment in this section ====
  
   
  +
==== Section 1 ====
  +
{| class="wikitable"
  +
|+
  +
|-
  +
! Activity Type !! Content !! Is Graded?
  +
|-
  +
| Question || Find kinetic and potential energy of a given physical system. || 1
  +
|-
  +
| Question || Write differential equations of motion of a mechanical system. || 1
  +
|-
  +
| Question || Find system transient response when external force is applied. || 1
  +
|-
  +
| Question || Solve for voltages and currents in a given electric circuit. || 1
  +
|-
  +
| Question || Find electric power produced by individual circuits’ components. || 1
  +
|-
  +
| Question || In MATLAB or other software, do the following for a second-order system:<br>Write a program to simulate its dynamics;<br>Plot step response and find its parameters;<br>Calculate and plot system energy with time. || 0
  +
|-
  +
| Question || Find and analyze frequency response (Bode plot) of a dynamic system. || 0
  +
|-
  +
| Question || Find impedance of a given linear electric circuit. || 0
  +
|-
  +
| Question || Write differential equations describing voltages and currents of dynamic circuit. || 0
  +
|-
  +
| Question || How does electric energy exchange in an RLC circuit? || 0
  +
|}
  +
==== Section 2 ====
  +
{| class="wikitable"
  +
|+
  +
|-
  +
! Activity Type !! Content !! Is Graded?
  +
|-
  +
| Question || What devices around us are based on principles of electromagnetism? || 1
  +
|-
  +
| Question || Describe what happens when an conductive wire is placed in magnetic field. || 1
  +
|-
  +
| Question || How to create a rotating magnetic field, and what happens to magnetic objects placed inside of it? || 1
  +
|-
  +
| Question || How to find electrical and mechanical power of electric motor? || 1
  +
|-
  +
| Question || What happens when a motor is running in the generator mode? || 1
  +
|-
  +
| Question || Drive differential equations governing the motion of a DC motor. || 0
  +
|-
  +
| Question || Draw a block diagram of a DC motor based on differential equations and convert them into state-space form. || 0
  +
|-
  +
| Question || Calculate maximum DC motor speed in no-load and loaded conditions. || 0
  +
|-
  +
| Question || Assuming a DC motor, calculate stall torque and maximum torque for given speed. || 0
  +
|}
  +
==== Section 3 ====
  +
{| class="wikitable"
  +
|+
  +
|-
  +
! Activity Type !! Content !! Is Graded?
  +
|-
  +
| Question || What applications of gears do you know? What about belts and pulleys? || 1
  +
|-
  +
| Question || What are the possible sources and effects of shaft misalignments on electric motors and gears? || 1
  +
|-
  +
| Question || Give an example of sensors used in conventional home appliances. || 1
  +
|-
  +
| Question || Typical applications where we need velocity and acceleration measurements. || 1
  +
|-
  +
| Question || Given a particular real-world device (system), which transmission mechanisms and sensors does it use in your opinion? || 1
  +
|-
  +
| Question || What are potential drawbacks and nonlinearities of conventional motion transmission mechanisms? || 0
  +
|-
  +
| Question || What effect does a transmission mechanism have on required motor speed and torque? || 0
  +
|-
  +
| Question || What are the pros and cons of each conventional position sensor type? || 0
  +
|-
  +
| Question || Name applications where position measurement is not feasible. || 0
  +
|-
  +
| Question || What are the main issues of conventional force-torque sensors? || 0
  +
|}
  +
==== Section 4 ====
  +
{| class="wikitable"
  +
|+
  +
|-
  +
! Activity Type !! Content !! Is Graded?
  +
|-
  +
| Question || Give examples of real-world biological and physical closed-loop (feedback) systems || 1
  +
|-
  +
| Question || Drive error dynamics equations for a given feedback control law || 1
  +
|-
  +
| Question || What are the physical analogies of each term in PID-controller? || 1
  +
|-
  +
| Question || How to implement PD regulator in MATLAB software? || 1
  +
|-
  +
| Question || In MATLAB, simulate behavior of a linear second-order ODE for the following controller types: P, PD, PID. || 0
  +
|-
  +
| Question || Analyze stability of a given feedback control system. || 0
  +
|-
  +
| Question || How does sampling affect system stability? || 0
  +
|-
  +
| Question || Tune controller for a given motor-transmission-sensor combination. || 0
  +
|}
  +
=== Final assessment ===
  +
'''Section 1'''
 
# Use Kirchoff’s voltage and current laws to drive differential equations of a given electric circuit.
  
# Use Kirchoff’s voltage and current laws to drive differential equations of a given electric circuit.
 
# What are the analogies between three main mechanical (mass, damper, spring) and electrical (resistance, capacitance, inductance) components?
  
# What are the analogies between three main mechanical (mass, damper, spring) and electrical (resistance, capacitance, inductance) components?
 
# Find impedance of electrical circuit and draw a corresponding mechanical system schematically.
  
# Find impedance of electrical circuit and draw a corresponding mechanical system schematically.
  +
'''Section 2'''
−  
−
=== Section 2 ===
  
−  
−
==== Section title: ====
  
−  
−
Electric motors
  
−  
−
==== Topics covered in this section: ====
  
−  
−
* Electric and magnetic fields
  
−
* Operating principles of DC motors
  
−
* Electromechanical dynamic model of DC motors
  
−
* Steady-state torque-speed characteristics, power
  
−
* AC motors
  
−
* Linear motors
  
−
* Energy losses in electric motors
  
−  
−
==== What forms of evaluation were used to test students’ performance in this section? ====
  
−  
−
<div class="tabular">
  
−  
−
<span>|a|c|</span> &amp; '''Yes/No'''<br />
  
−
Development of individual parts of software product code &amp; 0<br />
  
−
Homework and group projects &amp; 1<br />
  
−
Midterm evaluation &amp; 0<br />
  
−
Testing (written or computer based) &amp; 1<br />
  
−
Reports &amp; 0<br />
  
−
Essays &amp; 0<br />
  
−
Oral polls &amp; 0<br />
  
−
Discussions &amp; 1<br />
  
−  
−  
−  
−
</div>
  
−
==== Typical questions for ongoing performance evaluation within this section ====
  
−  
−
# What devices around us are based on principles of electromagnetism?
  
−
# Describe what happens when an conductive wire is placed in magnetic field.
  
−
# How to create a rotating magnetic field, and what happens to magnetic objects placed inside of it?
  
−
# How to find electrical and mechanical power of electric motor?
  
−
# What happens when a motor is running in the generator mode?
  
−  
−
==== Typical questions for seminar classes (labs) within this section ====
  
−  
−
# Drive differential equations governing the motion of a DC motor.
  
−
# Draw a block diagram of a DC motor based on differential equations and convert them into state-space form.
  
−
# Calculate maximum DC motor speed in no-load and loaded conditions.
  
−
# Assuming a DC motor, calculate stall torque and maximum torque for given speed.
  
−  
−
==== Test questions for final assessment in this section ====
  
−  
 
# Draw a schematic diagram of electrical and mechanical parts of DC motor and explain their interplay.
  
# Draw a schematic diagram of electrical and mechanical parts of DC motor and explain their interplay.
 
# What is the physical meaning of mechanical time constant of a DC motor? What about electrical time constant? How to calculate them?
  
# What is the physical meaning of mechanical time constant of a DC motor? What about electrical time constant? How to calculate them?
 
# Explain how to select a DC motor based on known force-velocity profile of the application.
  
# Explain how to select a DC motor based on known force-velocity profile of the application.
  +
'''Section 3'''
−  
−
=== Section 3 ===
  
−  
−
==== Section title: ====
  
−  
−
Transmission mechanisms and sensors
  
−  
−
==== Topics covered in this section: ====
  
−  
−
* Rotary-to-rotary transmission
  
−
* Rotary-to-translational motion transmission mechanisms
  
−
* Shaft misalignments and flexible couplings
  
−
* Position sensors
  
−
* Velocity and acceleration sensors
  
−
* Force and torque sensors
  
−  
−
==== What forms of evaluation were used to test students’ performance in this section? ====
  
−  
−
<div class="tabular">
  
−  
−
<span>|a|c|</span> &amp; '''Yes/No'''<br />
  
−
Development of individual parts of software product code &amp; 0<br />
  
−
Homework and group projects &amp; 0<br />
  
−
Midterm evaluation &amp; 0<br />
  
−
Testing (written or computer based) &amp; 1<br />
  
−
Reports &amp; 0<br />
  
−
Essays &amp; 0<br />
  
−
Oral polls &amp; 1<br />
  
−
Discussions &amp; 1<br />
  
−  
−  
−  
−
</div>
  
−
==== Typical questions for ongoing performance evaluation within this section ====
  
−  
−
# What applications of gears do you know? What about belts and pulleys?
  
−
# What are the possible sources and effects of shaft misalignments on electric motors and gears?
  
−
# Give an example of sensors used in conventional home appliances.
  
−
# Typical applications where we need velocity and acceleration measurements.
  
−
# Given a particular real-world device (system), which transmission mechanisms and sensors does it use in your opinion?
  
−  
−
==== Typical questions for seminar classes (labs) within this section ====
  
−  
−
# What are potential drawbacks and nonlinearities of conventional motion transmission mechanisms?
  
−
# What effect does a transmission mechanism have on required motor speed and torque?
  
−
# What are the pros and cons of each conventional position sensor type?
  
−
# Name applications where position measurement is not feasible.
  
−
# What are the main issues of conventional force-torque sensors?
  
−  
−
==== Test questions for final assessment in this section ====
  
−  
 
# Derive differential equations of motion when a load is connected to DC motor shaft via transmission and analyze its contribution to overall system dynamics.
  
# Derive differential equations of motion when a load is connected to DC motor shaft via transmission and analyze its contribution to overall system dynamics.
 
# For an application of motion control with desired accuracy and given a DC motor, select appropriate transmission mechanism and sensor resolution to satisfy performance specifications.
  
# For an application of motion control with desired accuracy and given a DC motor, select appropriate transmission mechanism and sensor resolution to satisfy performance specifications.
 
# List pros and cons of conventional position sensor types and briefly describe their preferable application areas.
  
# List pros and cons of conventional position sensor types and briefly describe their preferable application areas.
  +
'''Section 4'''
  +
# What is the physical analog of PD-regulator in application to control over second-oder mechanical systems?
  +
# What are the effects of time delays, quantization, and sampling rates on stability of digital control systems?
  +
# For a given application, select DC motor and tune its control system.
   
−
=== Section 4 ===
 +
=== The retake exam ===
  +
'''Section 1'''
   
−
==== Section title: ====
 +
'''Section 2'''
   
  +
'''Section 3'''
−
Control systems
  
   
  +
'''Section 4'''
−
==== Topics covered in this section: ====
  
−  
−
* Feedback control systems
  
−
* Stabilization and trajectory tracking
  
−
* Linear regulators (P, PD, PID)
  
−
* Digital control (sampling, quantization)
  
−
* DC motor controller tuning
  
−
* Stability of dynamic systems
  
−  
−
==== What forms of evaluation were used to test students’ performance in this section? ====
  
−  
−
<div class="tabular">
  
−  
−
<span>|a|c|</span> &amp; '''Yes/No'''<br />
  
−
Development of individual parts of software product code &amp; 0<br />
  
−
Homework and group projects &amp; 1<br />
  
−
Midterm evaluation &amp; 0<br />
  
−
Testing (written or computer based) &amp; 1<br />
  
−
Reports &amp; 0<br />
  
−
Essays &amp; 0<br />
  
−
Oral polls &amp; 1<br />
  
−
Discussions &amp; 1<br />
  
−  
−  
−  
−
</div>
  
−
==== Typical questions for ongoing performance evaluation within this section ====
  
−  
−
# Give examples of real-world biological and physical closed-loop (feedback) systems
  
−
# Drive error dynamics equations for a given feedback control law
  
−
# What are the physical analogies of each term in PID-controller?
  
−
# How to implement PD regulator in MATLAB software?
  
−  
−
==== Typical questions for seminar classes (labs) within this section ====
  
−  
−
# In MATLAB, simulate behavior of a linear second-order ODE for the following controller types: P, PD, PID.
  
−
# Analyze stability of a given feedback control system.
  
−
# How does sampling affect system stability?
  
−
# Tune controller for a given motor-transmission-sensor combination.
  
−  
−
==== Test questions for final assessment in this section ====
  
−  
−
# What is the physical analog of PD-regulator in application to control over second-oder mechanical systems?
  
−
# What are the effects of time delays, quantization, and sampling rates on stability of digital control systems?
  
−
# For a given application, select DC motor and tune its control system.
  

Latest revision as of 12:57, 12 July 2022

Mechatronics

  • Course name: Mechatronics
  • Code discipline:
  • Subject area: Sensors and actuators; Robotic control; Electromechanical systems.

Short Description

This course covers the following concepts: System design; Feedback control; Electric motor selection and control.

Prerequisites

Prerequisite subjects

  • CSE201 — Mathematical Analysis I: derivatives, definite and indefinite integrals
  • CSE202 — Analytical Geometry and Linear Algebra I & CSE204 — Analytic Geometry And Linear Algebra II: matrix operations, eigenvalues and eigenvectors.
  • CSE205 — Differential Equations: first- and second-order ODEs, state-space representation and modeling, concepts of stability (Lyapunov, asymptotic, exponential)

Prerequisite topics

Course Topics

Course Sections and Topics
Section Topics within the section
Dynamics and electrodynamics
  1. Free body motion
  2. Kinetic and potential energy
  3. Differential equations of motion
  4. Basics of linear electric circuits
  5. Impedance
Electric motors
  1. Electric and magnetic fields
  2. Operating principles of DC motors
  3. Electromechanical dynamic model of DC motors
  4. Steady-state torque-speed characteristics, power
  5. AC motors
  6. Linear motors
  7. Energy losses in electric motors
Transmission mechanisms and sensors
  1. Rotary-to-rotary transmission
  2. Rotary-to-translational motion transmission mechanisms
  3. Shaft misalignments and flexible couplings
  4. Position sensors
  5. Velocity and acceleration sensors
  6. Force and torque sensors
Control systems
  1. Feedback control systems
  2. Stabilization and trajectory tracking
  3. Linear regulators (P, PD, PID)
  4. Digital control (sampling, quantization)
  5. DC motor controller tuning
  6. Stability of dynamic systems

Intended Learning Outcomes (ILOs)

What is the main purpose of this course?

Industrial requirements for modern mechatronics and robotics engineers are such that, given an automation task, they must be able to identify and model the targeted physical process or system, select appropriate sensors, actuators and transmission mechanisms to control it, and design and implement control algorithm to ensure the system achieves desired performance. Therefore, the purpose of this class is to familiarize the students with the most fundamental aspects of all the key areas described above while focusing on typical real-world exercises and examples.

ILOs defined at three levels

Level 1: What concepts should a student know/remember/explain?

By the end of the course, the students should be able to ...

  • Various types of sensors, their pros and cons,
  • Working principles of electric actuators (DC motors),
  • Operation principles of motion transmission mechanisms,
  • Fundamentals of linear feedback control systems, and
  • Principles of controller design for mechatronic systems.

Level 2: What basic practical skills should a student be able to perform?

By the end of the course, the students should be able to ...

  • How to select sensors for a given application,
  • How to choose appropriate transmission mechanisms and account for their efficiency,
  • How to integrate all selected parts to create a mechatronic system,
  • Typical nonlinearities that originate from electronic and mechanical sources and their effects on system performance, and
  • How to tune control system for selected motor and desired performance specifications.

Level 3: What complex comprehensive skills should a student be able to apply in real-life scenarios?

By the end of the course, the students should be able to ...

  • Drive differential equations of motion describing behavior of physical systems with several degrees of freedom,
  • Calculate motor and sensor requirements for a given physical system, control task or application,
  • Select appropriate motor that provides enough power while avoiding overheating,
  • Tune control system for selected motor, transmission mechanism and sensor to achieve desired response and stability.

Grading

Course grading range

Grade Range Description of performance
A. Excellent 90-100 -
B. Good 75-89 -
C. Satisfactory 60-74 -
D. Poor 0-59 -

Course activities and grading breakdown

Activity Type Percentage of the overall course grade
Labs/seminar classes 0
Interim performance assessment 60
Exams 40

Recommendations for students on how to succeed in the course

Resources, literature and reference materials

Open access resources

  • “Mechatronics,” Sabri Cetinkunt. John Wiley & Sons., 2007.
  • “System dynamics: modeling, simulation, and control of mechatronic systems,” Dean C. Karnopp, Donald L. Margolis, and Ronald C. Rosenberg. John Wiley & Sons, 2012.
  • “Mechatronics: Electronic Control Systems in Mechanical and Electrical Engineering” (6th Edition), William Bolton. Pearson Education, 2003.

Closed access resources

Software and tools used within the course

Teaching Methodology: Methods, techniques, & activities

Activities and Teaching Methods

Activities within each section
Learning Activities Section 1 Section 2 Section 3 Section 4
Homework and group projects 1 1 0 1
Testing (written or computer based) 1 1 1 1
Discussions 1 1 1 1
Oral polls 0 0 1 1

Formative Assessment and Course Activities

Ongoing performance assessment

Section 1

Activity Type Content Is Graded?
Question Find kinetic and potential energy of a given physical system. 1
Question Write differential equations of motion of a mechanical system. 1
Question Find system transient response when external force is applied. 1
Question Solve for voltages and currents in a given electric circuit. 1
Question Find electric power produced by individual circuits’ components. 1
Question In MATLAB or other software, do the following for a second-order system:
Write a program to simulate its dynamics;
Plot step response and find its parameters;
Calculate and plot system energy with time.		 0
Question Find and analyze frequency response (Bode plot) of a dynamic system. 0
Question Find impedance of a given linear electric circuit. 0
Question Write differential equations describing voltages and currents of dynamic circuit. 0
Question How does electric energy exchange in an RLC circuit? 0

Section 2

Activity Type Content Is Graded?
Question What devices around us are based on principles of electromagnetism? 1
Question Describe what happens when an conductive wire is placed in magnetic field. 1
Question How to create a rotating magnetic field, and what happens to magnetic objects placed inside of it? 1
Question How to find electrical and mechanical power of electric motor? 1
Question What happens when a motor is running in the generator mode? 1
Question Drive differential equations governing the motion of a DC motor. 0
Question Draw a block diagram of a DC motor based on differential equations and convert them into state-space form. 0
Question Calculate maximum DC motor speed in no-load and loaded conditions. 0
Question Assuming a DC motor, calculate stall torque and maximum torque for given speed. 0

Section 3

Activity Type Content Is Graded?
Question What applications of gears do you know? What about belts and pulleys? 1
Question What are the possible sources and effects of shaft misalignments on electric motors and gears? 1
Question Give an example of sensors used in conventional home appliances. 1
Question Typical applications where we need velocity and acceleration measurements. 1
Question Given a particular real-world device (system), which transmission mechanisms and sensors does it use in your opinion? 1
Question What are potential drawbacks and nonlinearities of conventional motion transmission mechanisms? 0
Question What effect does a transmission mechanism have on required motor speed and torque? 0
Question What are the pros and cons of each conventional position sensor type? 0
Question Name applications where position measurement is not feasible. 0
Question What are the main issues of conventional force-torque sensors? 0

Section 4

Activity Type Content Is Graded?
Question Give examples of real-world biological and physical closed-loop (feedback) systems 1
Question Drive error dynamics equations for a given feedback control law 1
Question What are the physical analogies of each term in PID-controller? 1
Question How to implement PD regulator in MATLAB software? 1
Question In MATLAB, simulate behavior of a linear second-order ODE for the following controller types: P, PD, PID. 0
Question Analyze stability of a given feedback control system. 0
Question How does sampling affect system stability? 0
Question Tune controller for a given motor-transmission-sensor combination. 0

Final assessment

Section 1

  1. Use Kirchoff’s voltage and current laws to drive differential equations of a given electric circuit.
  2. What are the analogies between three main mechanical (mass, damper, spring) and electrical (resistance, capacitance, inductance) components?
  3. Find impedance of electrical circuit and draw a corresponding mechanical system schematically.

Section 2

  1. Draw a schematic diagram of electrical and mechanical parts of DC motor and explain their interplay.
  2. What is the physical meaning of mechanical time constant of a DC motor? What about electrical time constant? How to calculate them?
  3. Explain how to select a DC motor based on known force-velocity profile of the application.

Section 3

  1. Derive differential equations of motion when a load is connected to DC motor shaft via transmission and analyze its contribution to overall system dynamics.
  2. For an application of motion control with desired accuracy and given a DC motor, select appropriate transmission mechanism and sensor resolution to satisfy performance specifications.
  3. List pros and cons of conventional position sensor types and briefly describe their preferable application areas.

Section 4

  1. What is the physical analog of PD-regulator in application to control over second-oder mechanical systems?
  2. What are the effects of time delays, quantization, and sampling rates on stability of digital control systems?
  3. For a given application, select DC motor and tune its control system.

The retake exam

Section 1

Section 2

Section 3

Section 4

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