MK Mecha ch1

Introduction to mechatronics
What is mechatronics?
Some given definition of mechatronics
“application of complex decision making to the operation of

physical systems.”
“Synergistic integration of mechanical engineering with

electronics and intelligent computer control in the design and
manufacturing of industrial products and processes.”
“Methodology used for the optimal design of

electromechanical products.”
“Field of study involving the analysis, design, synthesis, and

selection of systems that combine electronics and mechanical
components with modern controls and microprocessors.”
Control is a series of actions directed for making a variable system adheres to a
reference value (that might be either constant or variable).
The desired reference value when performing control is the desired output
variable (that might deviate from actual output)
Process, as it is used and understood by control engineers, means the component to

be controlled
Controls are classified with respect to:
technique involved to perform control (i.e. human/machines):

manual/automatic control
Time dependence of output variable (i.e. constant/changing):

regulator/servo,
(also known as regulating/tracking control)
fundamental structure of the control (i.e. the information used for computing the
control):
Open-loop/feedback control,
(also known as open-loop/closed-loop control)
A system that involves:
a person controlling a machine is called manual control.
Ex: Driving a car
machines only is called a automatic control.

Ex: Central AC
An automatic control system designed to:
follow a changing reference is called tracking control or a servo.

Ex: Remote control car
maintain an output fixed (regardless of the disturbances present) is called a regulating

control or a regulator.
Ex: Cruise control
Open-Loop Control /Feedback control
The structures are fundamentally different:
In an open-loop control, the system does NOT
measure the actual output and there is no correction
to make that output conform to the desired
output.
In a closed loop control the system includes a sensor to measure the output and uses
feedback of the sensed value to influence the control input
variable.
Pros & Cons of Open-Loop Control
Generally simpler than closed-loop control,
Does not require a sensor to measure the output,
Does not, of itself, introduce stability problems;
BUT Has lower performance than closed-loop to match the desired output well.
Problems with Feedback Control

More complex than open-loop control
May have steady state error
Depends on accuracy with which you can measure the output
May cause stability problems
Advantages of Feedback Control
System with well designed feedback control can respond to unforeseen events.
Eliminates need for human adjustment of control variable
Reduces human workload
Gives much better performance than it is possible with open-loop
Block Diagram
It represents the structure of a control system.
It helps to organize the variables and equations representing the control
system.
boxes, that represents the components
It is composed of:
of the system including their causality;
Lines with arrows, that represent the actual
dynamic variables, such as speed, pressure,
velocity, etc..
Simplest Open-Loop Control Example & Associated Block
Diagrams
• System = mass + spring
• Control Input: force u
• Output: displacement
x(t)
• Block diagram (derived

using Laplace
transforms)
• Component block
diagram for the system
examined
7
Specific & Generic
Component Block Diagrams
Recall previous system

• Control Input: force u
• Output: displacement x(t)
Component block diagram for

the system examined
Generic component block

diagram
8
Definitions of Process, Actuator & Plant
• Process =
component whose the
output is to be
controlled
Ex: Mass
• Actuator = device
that can influence the
control input variable
of the process
Ex: Spring
• Plant = actuator +
process
Introduction to Mechatronics Ex: Spring/mass system
09/02/2023 9
Student's Lecture
Generic Component Block Diagram of an Elementary FEEDBACK
Control
• Control input = external variable (signal/action) applied to

the plant
• Controller = computes the desired control input variable
• Sensor = measures the actual output variable
• Comparator (or Σ) = computes the difference between the
desired and actual output variables to give the controller a
measure of the system error
10
Example 1: Heater
Question: Identify:
a) the process,
b) the control input variable,
c) the output variable,
d) the controller.
11
Example 2: Cruise Control
Question: Identify:
a) the process,
b) the control input variable,
c) the output variable,
d) the controller.
12

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Introduction to mechatronics

“application of complex decision making to the operation of

“Synergistic integration of mechanical engineering with

“Methodology used for the optimal design of

“Field of study involving the analysis, design, synthesis, and

Process, as it is used and understood by control engineers, means the component to

Controls are classified with respect to:

technique involved to perform control (i.e. human/machines):

Time dependence of output variable (i.e. constant/changing):

machines only is called a automatic control.

follow a changing reference is called tracking control or a servo.

maintain an output fixed (regardless of the disturbances present) is called a regulating

Problems with Feedback Control

Eliminates need for human adjustment of control variable

Reduces human workload

Gives much better performance than it is possible with open-loop

• Block diagram (derived

Recall previous system

Component block diagram for

Generic component block

• Control input = external variable (signal/action) applied to

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