Mechatronics Workshop;Mechatronics A Design Philosophy by Amir … · · 2012-10-16ISEE 2006-ISME...

MechatronicsMechatronicsA DesignA Design PhilosophyPhilosophy

AmirAmir H. H. DavaieDavaie--MarkaziMarkaziYaserYaser ShanjaniShanjaniMahdiMahdi AbbasiAbbasi

andandAll students of All students of MechatronicsMechatronics II courseII course

Iran Univ. of science and technologyIran Univ. of science and technologyIranian Society of Iranian Society of MechatronicsMechatronics

May 2006May 2006

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OutlineOutline

nn HistoryHistorynn DefinitionDefinitionnn Integrated Product DesignIntegrated Product Designnn A Teaching Experience at IUSTA Teaching Experience at IUST



History History ((KtesibiosKtesibios water clock)water clock)

nn KtesibiosKtesibios water clockwater clocknn Watt Watt GovernerGovernernn Space ProjectsSpace Projectsnn 1969: Japanese 1969: Japanese

engineer (electric co.) engineer (electric co.) coined coined MechaTronicsMechaTronics((Mechanism+electronicsMechanism+electronics))



Recent TrendsRecent Trends

nn 1970s 1970s –– Servo technology (vending Servo technology (vending machines, auto focus cameras, etc)machines, auto focus cameras, etc)

nn 1980s 1980s –– Embedded microprocessors (N/C, Embedded microprocessors (N/C, robots, EMS, ABS, etc)robots, EMS, ABS, etc)

nn 1990s 1990s –– Communication technology Communication technology (remotely controlled micro sensors and (remotely controlled micro sensors and actuators, MEMS, tiny sensors in airbags, actuators, MEMS, tiny sensors in airbags, etc)etc)

nn Today Today –– Vast educational programs Vast educational programs worldwide.worldwide.



Divergence/ConvergenceDivergence/Convergence

nn Primary engineering disciplines Primary engineering disciplines ((mech/elecr/chemmech/elecr/chem) separated in the 19) separated in the 19’’th th and most of the 20and most of the 20’’th century,th century,

nn Electronics/IT part of almost any product Electronics/IT part of almost any product today,today,

nn The reThe re--merging of primary engineering merging of primary engineering discipliesdisciplies and computer technology widens and computer technology widens the engineering perspective for producing the engineering perspective for producing very complex products.very complex products.



Involved KnowledgeInvolved Knowledge

nn Concurrent MultiConcurrent Multi--Domain Domain ModelingModeling

nn Engineering DesignEngineering Designnn Material PropertiesMaterial Propertiesnn Electrical MeasurementElectrical Measurementnn Digital/Analog ControlDigital/Analog Controlnn Sensors/ActuatorsSensors/Actuatorsnn Micro Micro ElectroMechanicalElectroMechanical

Systems (MEMS)Systems (MEMS)nn Power Electronic ControlPower Electronic Control

nn MarkatMarkat AssessmentAssessmentnn Laws and RegulationsLaws and Regulationsnn Development MethodDevelopment Methodnn Team ManagementTeam Managementnn Production TechnologyProduction Technologynn Industrial DesignIndustrial Designnn Surface CoatingSurface Coatingnn PackagingPackagingnn MarketingMarketingnn DistributionDistribution



No Single One Can Do AllNo Single One Can Do All

nn Teamwork is NecessaryTeamwork is Necessarynn Cultural BarriersCultural Barriersnn Geographically Distant ExpertsGeographically Distant Expertsnn Innovative OrganizingInnovative Organizingnn Innovative Development ProcessInnovative Development Processnn Innovative Resource AllocationInnovative Resource Allocationnn Mutual Understanding Among Team MembersMutual Understanding Among Team Membersnn Interdisciplinary KnowledgeInterdisciplinary Knowledgenn Competence/CooperationCompetence/Cooperationnn Respect Other Experts Competence Respect Other Experts Competence



MechatronicsMechatronics Integrated Integrated DesignDesignnn Complex ProblemsComplex Problemsnn MultiMulti--Domain Domain SubSystemsSubSystemsnn Optimization in Subsystems may not Optimization in Subsystems may not

Lead to an Optimal Total DesignLead to an Optimal Total Designnn Concurrent (Integrated) Optimization Concurrent (Integrated) Optimization

is neededis needednn MultiMulti--Domain Physical Modeling Domain Physical Modeling nn Powerful Software FrameworkPowerful Software Framework Needed Needed



Different Design ViewsDifferent Design Views



SteerSteer--byby--Wire SystemWire System((RoosRoos & & WikendarWikendar))



Conceptual DesignConceptual Design



SubSub--system Designsystem Design



MECHATRONICSMECHATRONICSA Case Study onA Case Study on

Design, Manufacturing & Design, Manufacturing & PCPC--based Realbased Real--Time Control Time Control

of of

Furuta Inverted PendulumFuruta Inverted Pendulum

A. H. A. H. DavaieDavaie [email protected]

ISEE 2006ISEE 2006--ISME 2006ISME 2006

Iran University of Science and Technology

Mechatronics LaboratoryMechatronics LaboratoryMechanical Engineering DepartmentMechanical Engineering Department

Iran University of Science and Technology (IUST)Iran University of Science and Technology (IUST)http://http://mech.iust.ac.irmech.iust.ac.ir


mailto:[email protected]


MECHATRONICSMECHATRONICSTeam MembersTeam Members


Control GroupYaser Shanjani Applied Mechanics-Control, Manufacturing

Mahmood ArefianApplied Mechanics- Control

Manufacturing GroupMahdi Abasi Manufacturing- Control, Simulation

Esmaeil Bagheri Manufacturing- Vibration, MetallurgySensors & Actuators GroupRoozbeh AhmadiManufacturing- Robotics, Measurement

Mohsen ShokriManufacturing- Robotics

Simulation GroupVahid Azimi Manufacturing- Robotics

Amir Fasih Manufacturing- Control, Railways

Real-Time Group

SupervisorA. H. Davaei MarkaziAssociate Prof, Mech. Eng. Dep.IUSTControl, Mechatronics



MECHATRONICSMECHATRONICSInterdisciplinary flow of informationInterdisciplinary flow of information




MECHATRONICSMECHATRONICSInterdiscipliaryInterdiscipliary CollaborationsCollaborations

Real-timeSensor Test

+Input Interface

Motor & Driver Test

+Output

Interface

Motor SpecificationsSpecificationsStatic/dynamic Static/dynamic

SpecificationsSpecificationsStatic/dynamicStatic/dynamic

Motor Dimensions

Motor & Driver Test

+Output

Interface

Sensor

Dynamic/static characteristics

ResolutionNoise

characteristics


ResolutionNoise

characteristics

Sensors Dimensions

Sensor Test+

Input Interface

Mechanical Design & Manufacturing

Dynamic Modeling+

Dimensions Confirmation

Dynamic Modeling

Options for Options for locatiionlocatiion of of

sensorssensors

Location Location and Size and Size

limitationslimitations

ControlController

+Dynamic Modeling

Dynamic Modeling+

Mechanical tuning


Resolution

ControllerAlgorithm

Simulation

Dynamic Modeling of controlled

system

Dynamic Modeling+

Mechanical parameter study


Resolution

Required Torque &

Power

Effects of quantizatio

error/Sampling

Time

Simulation Control Mechanical Design & Manufacturing Sensor Motor Real-time



MECHATRONICSMECHATRONICSProject FlowchartProject Flowchart




MECHATRONICSMECHATRONICSModelingModeling


[ ]

2 2

2 2

0 1 0 0 00

0 0 00

1 0 0 0 00 0 0 1 0 0 00 0 1 0 000 0 0

1

0 0 0

A B C D

R LL L

γ λ α ζλ β α λ β α

γ α β ζλ β α λ β α

ζ

− ⋅ − ⋅ ⋅ − ⋅ − = = = = ⋅ − ⋅ ⋅ − ⋅ − − −

( )( )

2

2 2 2

cos sin cos sin 0 #1

sin cos 2 sin cos sin . #2

#3

EA

g r g m

g m

J

K J K K i

K KR Vi iL L L

α θ ϕ β θ β θ θ ϕ γ θ

β θ λ ϕ α θ θ β θ θ ϕ θ α θ θ

ϕ

⋅ ⋅ + + ⋅ − ⋅ ⋅ ⋅ + ⋅ =

⋅ + + ⋅ ⋅ + ⋅ ⋅ + ⋅ ⋅ ⋅ ⋅ − ⋅ ⋅ = ⋅

⋅= − ⋅ + − ⋅

1 1

2 2

3 3

4 4

5 5

0 1 0 0 0 026.96 0 0 0 4.91 0

0 0 0 1 0 00.25 0 0 0 5.45 00 0 0 840.3 500 277.8

1 0 0 0 00 1 0 0 00 0 1 0 00 0 0 1 00 0 0 0 1

x xx xx x vx xx x

y

− = ⋅ + ⋅

− − −

=

1

2

3

4

5

xxxxx

⋅

x

i

θθϕϕ

=

[ ] [ ][ ] [ ]

x A x B uy C x D u

= ⋅ + ⋅

= ⋅ + ⋅



MECHATRONICSMECHATRONICSMultiMulti--domain physical modelingdomain physical modeling


State Feedback Controller Gain Matrix



MECHATRONICSMECHATRONICSMechanical AnalysisMechanical Analysis


Modal Analysis

Material Strength Analysis



MECHATRONICSMECHATRONICSMechanical Design & ManufacturingMechanical Design & Manufacturing


Conceptual Design

Manufacturing

CAD



MECHATRONICSMECHATRONICSController DesignController Design




MECHATRONICSMECHATRONICSSensors & ActuatorSensors & Actuator




MECHATRONICSMECHATRONICSRealReal--time controltime control




ResultResultMECHATRONICSMECHATRONICS




MECHATRONICSMECHATRONICSTime TableTime Table




ConclusionConclusion

nn Higher performance, less expensive and onHigher performance, less expensive and on--time products need time products need MechatronicsMechatronics..

nn Educational and technical discipline.Educational and technical discipline.nn A design philosophyA design philosophynn Involves technical as well as teamwork Involves technical as well as teamwork

barriersbarriersnn MultiMulti--domain Physical modeling is a must.domain Physical modeling is a must.nn MechatronicMechatronic is best learnt by is best learnt by doingdoing..



از توجھ شما متشكرم از توجھ شما متشكرم



SteerSteer--byby--Wire SystemWire System((RoosRoos & & WikendarWikendar))



33--D Geometric ViewD Geometric View



Geometric CAD viewGeometric CAD view



ElectroMechanicalElectroMechanical ViewView



Control ViewControl View



Parameter OptimizationParameter Optimization



Parameters OptimizationParameters Optimization



Mechatronics Workshop;Mechatronics A Design Philosophy by Amir … · · 2012-10-16ISEE 2006-ISME...

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