Mechatronics

Introduction

Ali Sadighi, Ph.D

School of Mechanical Engineering

University of Tehran

Fall 2022
 Mechatronics What is Mechatronics?

Control ‣ Classical Control Theory

System ‣ Modern Control Theory

Digital Control ‣ Analog Control

Control Electronics

‣ Electronic Circuits
Electronic ‣ Power Systems
‣ Microprocessor Integration Computers Mechatronics System ‣ Communication Systems

Mechanical Electro-
‣ Sensors & Actuators
‣ Design Computation CAD Mechanics

‣ Thermal or Fluid Systems

Mechanical ‣ Solid Mechanics
System
‣ Dynamics & Vibration

Mechatronics describes synergistic integration of Mechanical, Electronic, Computer,

and Control Systems.
 Mechatronics Apple Watch Series 4

Actuator
Sensor Taptic Engine
Ambient Light Sensor
Heart Rate Sensor
Accelerometer
Gyroscope
Compass
Barometer

Permanent magnet
Coils

Processor
Apple S3
 Mechatronics Self-Driving Electric Cars

Actuator
Sensor
Induction & BLDC Motors
GPS
Ultrasonic sensors
Odometer
Lidar
Video cameras
Radar

Processor
Nvidia
2 SoCs and 2 GPUs

Biggest challenge: Test & Validation

Testing self-driving cars under various scenarios takes thousands of hours
 Mechatronics Intelligent Pigging

Sensor Actuator Processor

GPS On-board DSP and Memory
BLDC Motors
Hall Sensors

Intelligent pigging reduces inspection time, related costs, and likelihood of unexpected
pipe failures.
 Mechatronics Robotic Surgery

Actuator
Linear and rotary servomotors
Sensor em
t
Force and torque sensors ic Sys
pt
Linear & rotary encoders Ha
Gyroscope
Accelerometer
Camera
Thermometer

Processor
Vision system
 Mechatronics Boston Dynamics’ Atlas

Actuator
Sensor Hydraulic actuator
IMU (Powered by battery)
Lidar
Pressure sensor

Processor
On-board computer

Energy density vs. power density: Important factor in designing Autonomous Systems
Mechatronics Condition Monitoring & Diagnostics
 Mechatronics Internet of Things

The Internet of things (IoT) is the network of devices such as vehicles, and home
appliances that contain electronics, software, actuators, and connectivity which allows
these things to connect, interact and exchange data.
 Mechatronics Evolution of Design Capabilities

Industrial Revolution (Mechanical)

‣ Energy conversion and transmission

Semiconductor Revolution (Electrical)

‣ Signal conditioning
‣ Power amplification
‣ High-speed switching

Information Revolution (Computing)

‣ Ubiquitous computing power and data analysis

• Traditional Product Realization involves sequential discipline-specific design efforts:

Mechanical Electrical Controls Manufacturing

 Mechatronics Sequential versus Parallel Design

• Sequential Design may be inefficient and suboptimal.

• Mechatronic Design seeks to work in Parallel.

• The Mechatronic Engineer must have a Familiarity with, if not expertise in, each

of the Four Mechatronic Components.

Aim of Mechatronic Design

Mechatronics attempts to exploit interdisciplinary synergies, and to make intelligent
design decisions when synergies are not available.
Mechatronics Sequential versus Parallel Design
Mechanical complexity Mechatronics Design Trade-Off

Electronic complexity
More electronic complexity, less mechanical complexity and vice versa

Integrated Design Considerations

Component Cost Availability Flexibility Size Maintenance Reliability

Mechanical
System

Electronic
System

Control System

Processor
 Mechatronics Mechatronic System Components
Sensors
Actuators Plant
- Strain Gauge
- Solenoids, VCMs - Plane - Thermocouple
- DC Motor - Security System - Accelerometer
- Stepper Motor - Washer - Digital Encoder
- Servo Motor, etc - Car, etc. - Gyroscope, etc.

Output Signal Conditioning and

Digital Control Architecture Input Signal Conditioning and
Interfacing
Interfacing
- Microcontrollers
- D/A
- Control Algorithms - Filters
- Amplifiers
- Communication - Amplifiers
- PWM
- PLC - A/D, etc.
- Power Transistors
- Power Op-Amps

Output
Command + Controller D/A Amplifier Actuator Plant
- Error Control
Signal

Measured output
A/D Sensor
Software Hardware