Tutorial 2
Mechatronics - Modeling, Component Interconnection, Sensors, Actuators, Control, and Integrated Design

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Lecturer

Clarence W. de Silva, University of British Columbia, Canada

Contents

Mechatronics is a synergistic combination of precision mechanics, electronics, controls, and computer engineering, combined through a process of integrated design. A mechatronics engineer needs to be able to handle a wide range of technologies in sensors, actuators, interface hardware, control systems, analog and digital electronics, software engineering, and concurrent design. It is not possible to provide an in-depth coverage of all these technologies in a single short course. The course will introduce key topics of the field of Mechatronics, as useful for both students and practicing professionals. Various concepts will be illustrated through worked examples and exercises. Case studies of Mechatronics will be provided to illustrate the integrated design process, which is involved.

Course Topics

• Mechatronic Engineering
  • mechatronic systems
  • modeling and design
  • mechatronic design concept
  • evolution of mechatronics
  • application areas
  • study of mechatronics
• Dynamic Models And Analogies
  • terminology
  • model types
  • model development
  • lumped model of a distributed system
  • kinetic energy equivalence
  • natural frequency equivalence
  • analogies
  • state-space representation
  • model linearization
  • linear graphs
  • electrical systems
  • fluid systems
  • thermal systems
  • bond graphs
  • transfer-function models
  • frequency domain models
  • response analysis and simulation
• Component Interconnection And Signal Conditioning
  • impedance characteristics
  • amplifiers
  • analog filters
  • modulators and demodulators
  • analog-digital conversion
  • bridge circuits
  • lineariziing devices
  • miscellaneous signal modification hardware
• Performance Specification And Analysis
  • parameters for performance specification
  • linearity
  • instrument ratings
  • bandwidth design
  • aliasing distortion
  • instrument error analysis
• Analog Sensors And Transducers
  • motion transducers
  • variable-inductance transducers
  • permanent-magnet transducers
  • variable-capacitance transducers
  • piezoelectric sensors
  • effort sensors
  • strain gages
  • torque sensors
  • tactile sensing
  • gyroscopic sensors
  • optical sensors and lasers
  • ultrasonic sensors
  • thermo-fluid sensors
• Digital Transducers
  • advantages of digital transducers
  • shaft encoders
  • incremental optical encoders
  • absolute optical encoders
  • encoder error
  • miscellaneous digital transducers
• Stepper Motors
  • principle of operation
  • stepper motor classification
  • driver and controller
  • torque motion characteristics
  • damping of stepper motors
  • stepping motor models
  • control of stepper motors
  • stepper motor selection and applications
• Continuous-Drive Actuators
  • dc motors
  • dc motor equations
  • control of dc motors
  • motor driver
  • dc motor selection
  • induction motors
  • induction motor control
  • synchronous motors
  • linear actuators
  • hydraulic actuators
  • hydraulic control systems
• Control Systems
  • control engineering
  • control system performance
  • control schemes
  • stability
  • root locus method
  • frequency domain analysis
  • controller design and tuning
  • compensator design
  • controller tuning
  • digital control
  • controllability and observability
  • modal control
  • optimal control
  • other modern control techniques
  • intelligent control
• Case Studies In Mechatronics
  • design of a mechatronic system
  • robotics case study
  • iron butcher case study
  • economic analysis

Lecturer's Bio:

Clarence W. de Silva, P.Eng., Fellow ASME and Fellow IEEE, is Professor of Mechanical Engineering at the University of British Columbia (UBC), Vancouver, Canada, and has occupied the NSERC Research Chair in Industrial Automation since 1988. He has earned Ph.D. degrees from Massachusetts Institute of Technology and the University of Cambridge, England. De Silva has also occupied the Mobil Endowed Chair Professorship in the Department of Electrical and Computer Engineering at the National University of Singapore (NUS), and currently serves as the Director of the NUS-UBC Applied Science Research Centre. He is recipient of the Henry M. Paynter Outstanding Investigator Award from the Dynamic Systems and Control Division of the American Society of Mechanical Engineers (ASME), Killam Research Prize, Outstanding Engineering Educator Award of IEEE Canada, Education Award of the Dynamic Systems and Control Division of ASME, Lifetime Achievement Award of the World Automation Congress, IEEE Third Millennium Medal, Meritorious Achievement Award of the Association of Professional Engineers of BC, and the Outstanding Contribution Award of the Systems, Man, and Cybernetics Society of the Institute of Electrical and Electronics Engineers (IEEE). De Silva has authored or co-authored 16 technical books, 12 edited volumes, over 165 journal papers, and over 200 conference papers and book chapters. He has served on the editorial boards of twelve international journals including Transactions of ASME and IEEE, and particularly as the Editor-in-Chief of the International Journal of Control and Intelligent Systems, Editor-in-Chief of the International Journal of Knowledge-Based Intelligent Engineering Systems, Senior Technical Editor of Measurements and Control, and Regional Editor, North America, of Engineering Applications of Artificial Intelligence -- the IFAC International Journal of Intelligent Real-Time Automation. De Silva is a Lilly Fellow at Carnegie Mellon University, Senior Fulbright Fellow at Cambridge University, Fellow of the Advanced Systems Institute of British Columbia, a Killam Fellow, and a Fellow of the Canadian Academy of Engineering.