3 Control Systems & Transfer

Function Based Modelling

Syllabus
to control systems, need, Iypes- Open and Closed loop, Concept
ion
ntroo of Transfer Function, Block Diagram &
Reduc nrinciples and problems, Applications (Household,
Automotive, Industrial
shop floor)
Transfer Functio based modeling of Mechanical, Thermal and Fluid system,
Concept of Poles & Zeros: Pole zero
Stability Analysis using Routh
Hurwitz Criterion (Numerical
Approach)

3.1 Introduction to Mechatronics 3.1.2 Mechatronics System Design Steps

System Design
Mochatroncs System Design Steps
3.1.1 Definition
Model.ng
- Mcchatronics system design deals with design of
controlled motionsystems by the integration of 2 Simulation

functional elements froma multitude of disciplines.

3 Project management
- If beginwith thinking how the required function can
4. Design
realize by combination of various mechatronics
subsystem.
5. Analysis

Mechatronies design is a philosophical integrated

6 Real ume Interlace
approach involvement of all areas throughout the
design procedure is a primary factor. 7.Code generator

An inmportant characteristic of mechatronics system 8. Embedded processor Inlerface

design is built an intelligence system whlch results
through nmechanical, electronics, electrical and real Flg. C3.1:Mechatronlcs System Design Steps

time programming.
1. Modeling
Mechatronics possible by combining activators, Block diagram or visual interface for making
control systems, sensors and computes in design intultively understandable behavloural models of
process. physlcal or abstract phenomena, the lexibility to
encapsulate complexness and maintain many levels of
*Ocs system design procedure optimizes all
submodel complexity is useful.
parameters to produce quality product in short cycle
time. 2. Simulation
Numerical strategies for solving models containingg
CChatronlcs system integrates hardware anadifforential. discrete, hybrid, partial, and
software subsystems. niplicit
nonlinear se well as linear equations, should have a lock
for real-ume processing and be capable of executing
qulcker than real time.
 Mcchatronlcs (SPPU) 3-2 Control Systems& Transfer Function Based Modelling

3. Project Management Hence a continuous monitoring of a system is

necessary. Consider example of continuously monltor
Information for maintaining project data and
and control the fuel tank used in a Boller power plant
submodels for ultimate reprocess
Controlles like Proportional lntegral Derivative
4 Design (PID) are working in these types of sy'stems.
Numerical strategics tor affected improvement of Mechatronics sy'stem is classifled into the two types
performance functions supported model parameters and Types of
signals. monte cario kind capability is additionally Mechatronics control systems
desirable.
1. Open loop control syslems
5. Analysis (non-teedback control systems)
Numerical strategies for frequency domain, time
2. Closed loop control systemns
domain, and complex domain design. (leedback control systems)
6. Real-Time Interface
Fig. C3.2: Types of Mechatronics control systems
plug-in ard is employed to interchange a part of
A

the model with actual hardware by interfacing to it with 3.2.1 Open loop control system
actuators and sensors. this can be referred to as a
hardware-inthe-loop simulation or fast prototyping and University Ouestions
should be executed in real time. a. Draw a suitable block diagram to depict the principle of
operation of open loop control. SPPU- Dec. 15
7. Code Generator
Q. Draw a suitable block diagram and explain the working
To supply efñcient high-level source code from the of open loop control system. SPPU April 16In Sem.)
block diagram or visual modeling interface. The control April 17(In Sem. March 19tn Sem.
code are going to be compiled and used on the
embedded processor. The language is sometimes C. f mechatronies control system not having
automatic correction of the deviation in its output
8. Embedded Processor Interface
it is called an open loop control system.
The embedded processor resides within the final - So that in this system, sensing of the actual output
product and this feature provides communication and comparing of this output with the desired input
between it and therefore the computer-aided does not take place.
prototyping environment, this can be referred to as a full
The open loop control system is not in a position to
system prototype.
give the desired output and it cannot take into
account the disturbances. The changes in output are
3.2 Mechatronics Control System possible to correct only through changing the input
manually.
In mechatronics system, normally the aim is
automate a process or to organize parameters of
Input loop control system Dut
system. Control systems for mechatronics system can
Fig. 3.2.1
be characterized into two types. First type is the
all the operatlons are
- Open loop control systems are simple in construction,
sequential control where
stable and less costly. But these systems are
carried out sequentially.
imprecise and changeable.
Automatic Pallet Changer Mechanism is an example
of such control system. In the second type of the -Thesesystems do not take care external disturbances
corrective
affected to the output and do not initiate
control system, accurate control over output of
system is to be obtained. actions automatically.

Trcharald
 (SPPU)
Mechatronlcs 3-3
Control Systems &Tranafer Funcioa Hased Modelin
non-fcedbachack control system can be considered Advantages
Any of an open loop cont system
afeerdback control system if it s under the
Unlversity Queslions
supervlsion of control system.
0. Write the advantages of open loop control.
en loop control:systems have less costly parts as
- SPPU Apri16th Sem. April 17(n Sem
romarcd to close loop system and slmple in design.
O. List tuo advantages of open inp
ontrod systern.
Let us consider a example of home temperature
SPPU-Mareh 19(in Sem
control system. This system controls the temperature
In a room, keeping
it constant. 1. Simpliclty and stability: They are very to layout
and hence open loop systems are inexpensive and
An open loop systen usually has a timer which
stable due to their simplicity.
Instructs the system to switch on the heater for some
off.
time and then switch it 2. Constructlon: Since open loop system are having 3

Accuracy cannot be achieved as the system based on simple layout so they are easier to construct
-

Switch on/off based. It can be controller as per the set Disadvantages of an open loop control system
value of timer.
University Ouestion
Examples of open loop control systems with Q. Write the disadvantages of open loop control
explanation SPPU-April 17n Sem.
- The burglar alarm system example of an open loop
is 1. Accuracy and Rellability: These systems do not
control system. Here the function of the sensor is to have a feedback mechanism, therefore they are very
assemble data about the concerned house. inaccurate in terms of result output and hence they
- When the sensor is triggered, it will forward a signal are unreliable too.
to the receiver. The receiver will then make active the
alarm, which will in turn produce an alarm signal.
2. Disturbances : Due to the absence of a feedback
mechanism, they are unable to remove the
- The alarm signal will not stop until the alarm is disturbances occurring from external sources.
stopped manually.
3.2.2 Closed loop control system
1ectnicReceiver Alam Output
(Alam signa) Universily Question
a. Using a suitable block diagram, explain the application
12 V Power supply
of a closed loop control system in temperatura control
Fig. 3.2.2 in a house hold refrigerator. SPPU May 15
The disadvantage of an open loop control system is In this type of system the output affects the input
that it is unable of making automatic adjustmentS quantity in such a way as to keep the desired output
Even the magnitude of the output is too big or too value.
small; the system will not make the suitable - An open loop control system can be convert into
adjustments. closcd loop control system by include a feedback
system.
Therefore, an open loop control system is not
appropriate for use as a composite control system. - This feedback system automatically corrects the
changes in output due to outside disturbances. Hence
ometimes it may even need monitoring and repy
from the user. closed loop control system is an automatic control
system.
Some more examples
of open loop control systems The block diagram of a closed loop control system is
-
Traffic signal shown in Fig.3.2.3.
system
ome heating system (without sensing, feedback and - In a closed loopcontrol system, the controlled output
control) of the system is measured and compared with the
desired input so can be found error from signal.
Tecaaledr
 Mechatronics (SPPU) 4 Centrol Systenis &Transfer Punction Hased Modelina
ing
strtsarnce
signals, and hence remaln unaffected to the external
Comparato noise sources.
Set value
E Oontro
ystem Disadvantages of Closed loop control system
University Question
Feedheck system
o. Discuss the drawtbacks of closod loop control system
Fig. 3.2.3 over open loop control system.
SPPU Aprl15{ln Sem
This error signal give direction to the control system
to take corrective action so that the output of the 1. Construction
system is obtained as desired. They are relativcly more complicated in construction
These close loop controi systems are accurate, stable and hence it adds up to the cost making il costlier
than open loop system.
and less affected by noise. But these control systems
are costly as compared to open loop control system. 2. Oscillatory response
They are also complex to design for constancy, give Since it consists of feedback loop, it may produce
oscillatory reaction and feedback brings down the oscillatory response of the system and it also reduces
the overall gain of the system.
overall gain of the mechatronics control system.
3. Stability
A closed loop controi system has numerous input and
numerous output variabies. One or two main inputs It is less stable than open loop system but this
are considered in design the mechatronics control disadvantage can be striked off because we can create
the sensitivity of the system very small so as to make
system.
the system as stable as possible.
The feedback is sent to the controller for comparison
Examples of Close loop control system
from output variables are measured by using suitable
Examples of Close loop control systems with
sensor system. explanation is given below.
Closed loop control systems classified as follows
)Refrigerator Control System
Input Single Output (SIS0)
1. Single Actuator Procoss
Desire
2. Multiple Input Single Output (MISO0) Temperahue Heat flow
Controller Compressor
3. Multiple Input changes
Multiple Output (MIMO)
4. Single Input Multiple output (SIMO)

Advantages of Closed loop control system Temperature

sensor
Universily Questions
Fig. 3.2.4
a. List two important advantages of a closed loop control
system. SPPU-May 15 Refrigerator uses temperature sensor to sense
O. Discuss the benefits of closed loop control system over temperature of refrigerator. According to that
open loop control system. SPPU-April 15tIn Sem.) controller controls the compressor.
Given block diagram of refrigerator shows the close
1. Accuracy
loop system. Desire temperature can be set on
They are more correct than open loop system display panel of refrigerator system.
because of their complex construction.
-It compares the temperature measured by the
They are equally accurate and are not disturbed in temperature sensor. If temperature of temperature
the presence of non-linearity. sensor is more as compared to desire temperature
2. Noise reduction then controller send signal to compressor.

Since they are consisted with a feedback mechanism, Compressor increases the heat exchange process
so they removes the errors between input and output through refrigerant and reduces temperature inside
refrigerator
Toch Kaoaledro
 Mechatronies (5PPU)
3-5
ntrol Systens2 Transter Function Based Modelling
Conditloner
(1) Alr Cornparng
enperature
Preset
Hogati Eiaate tndor
termperatur Dviatono
devaton
daain
(cose)open)

Fig. 3.2.5

An alr conditioner uses a thernostat to sense the temperature and control the process of its electrical parts to
keep the room temperature
at preset constant.
a

Fle. 3.2.5 shows the block diagram of the control system of an air conditioner. One benefit of using the closed loop
control system Is that it is capable to regulate its output automatically by feeding the output signal back to the
input.
When the load changes, the error signals generated by the system will adjust the output. However, ciosed ioop
control systems are usually more complex and thus more costly to make.

3.2.3 Comparison between Open Loop Control and Closed Loop Control

University Ouestions
a. Wrte two distinct points of comparison beween open loop and closed loop control system. SPPU-De. 15
a. Wite four distinct points of comparison between open loop and closed loop control system SPPU-April 16tin Sem
a. Write four exclusive points of comparison between open loop control and closed loop control.

SPPU: March 18(ln Sem.). May 188

Sr. Open loop control system Close loop control system
No.
1. Effect of output An open loop control system acts| A closed loop control system considers the
completely on the basis of input and the current output and alters it to the desired
output has no effect on the control condition. The control action in these systems
action. is based on the output

Stability of Open loop systems are more stable. Close loop control systems are not stable as
system Compared to open loop.
3. Effect of Closed loop control system doesn't encounter
Open loop system works on fixed
disturbance operation conditions and there is no and react on external disturbance or intermal
disturbance. variations.
4. Effect of gain Non linear change in system.
No effect on gain
5. Implementation The structure of open loop control The working principle and structures of close
of system system is easy to construct and easily loop control systems are complex and dificult
|

implemented. to implement

6 Cost of system Itneeds less number of components to t needs large number of components than
be construct. Overall cost of system is open loop control system. Overall cost of
low. system is high.

Tech aeatedgo
ti
 3-6 Control systems & transfer lunction based modelln
Mechatronics (SPPU)

Open loop control sy'stem Close loon control system

Sr.
No.

7. block diagram Closed loop

tontroter Driver
Open kropP Motor
controex

Speod
sensors

3. Blcctrical/Electronic
3.3 Identification of Key Elements of
Electrical elements are
Mechatronics Systems and resistor, capacitor, Inductor,
transformer, circuits and analog
Represent into Block Diagram_ signals.
Electronic elements are
analog/digital electronics,
University Ouestion transistors, thyristors, opto-isolators,
operational
Q. Draw a suitable block diagram of a generic amplifiers, power electronics,
mechatronics system and list the key elements in the and signal
conditioning.
Systom. SPPU :March 18(in Sem.)
The clectrical/electronic
Identification of Key Elements elements are used
interface electro-mechanical to
of Mechatronics Systems sensors and actuators
to the control interface hardware
elements.
Elements o mechatronics system 4. Control System elements

2 Electro-mechanical eiements Control system hardware parts are analog-to-digital

converter (ADC), digital-to-analog converter (DAC),
3 Electncalelectronic digital input/output (1/0), counters,
timers,
microprocessor, microcontroller, data acquisition
.Control system elements
system (DAC)and digital signal processing (DSP)
Fig. C3.3: Identification of Key Elements board.
of
Mechatronics Systems The mechatronics control system allows
communication of sensor to the controller and
1. Elements of Mechatronics System
communication of control signal from the controller
-
Mechanical elements in mechatronics to the actuator.
system are
structure, mechanism, thermo-fluid, and hydraulic The control computing control algorithm, which uses
aspects of a mechatronics system. sensor signals and compute control actions to apply
The mechanical elements are also including with the help of actuator.
static/dynamic characteristics ofa system. Input slgnal
Actuator Sensor Conditioning
The mechanical elements of mechatronics systems
need mechanical power to generate motion, force,
heat, etc.
output signa
Controller
2. Electro-Mechanical elements conditloning

Electromechanical elements are actuators.

Actuators like DC servomotor, stepper motor, relay, LED
solenoid; light emiting diode (LED), speaker, shape display

memory alloy, electromagnet, and pump are used to Fig. 3.3.1

implementdecision taken by controller.
Kaealedgt
Tech
PbIILatios
 Mechatronles (SPPUJ 3.7
Control systems 2 transfer function based modeling
Block Dlagram in Mechatronics Control system consists of an output and an input
3.4
System signal The vutput and input are related with each
other through transfer function.
graphlca representation Is often easier to
A Transfer fuoction is represented by a blocks, transfer
erstand than a textual representation. A
function equation and arrows collectively it known
aphlcal representation of a system and it provldes
Braph as block diaram ofa mechatronics control system.
functlonal representation of a system.
a
Mechatronics controf systen consist of a reference
understanding of a mechatronics ystem
glves a
It Input as excitatlon which operates through a
and make connectivity between processes. transfer operation termed as transfer function and
plock diagrams derive their name from the produces an effect resulting in controled output or
rectangular elements found in this type of diagram. response.

- Block diagrams used to explain software and The relationship between the output and input is
hardware systems in addition to characterize related to each other through a transfer functio
processes.

- Block diagrams are explaining and define according

to thelr purpose, arrangement and relationship with In Transfer function Laplace Transform generally
other blocks. input is represented by R{s) and output is
system building blocks are used for System Modeling represented by C{s). then the transfer hunction is
which shows statistical concepts and objects in the C(S)

system.
G()R R(s) G ()=C()

- Blocks explain data elements and operators as

Transfer function of the system multiplied by input
function gives the output function of the systemn
control flow elements.
It is not necessary that output and input of a contro
A block diagram is an essential method used to
develop and describe hardware or software systems system are of same ategory. For example, in
as well as represent their workflows and processes. feedback control system the input is electrical signal
taken from sensors and the output is actuators
Block diagrams represent complex algorithms, Rows
mechanical signal.
of information and communication between
individual components within a large. But for analysis of a system all kinds of signals
should be represented in a same form. This is
3.5 Transfer Function possible by transforming all signals into their
Laplace form.
University Question
The transfer function ofa system is represented by
.Define Transfer Function" and discuss its importance Laplace form taking ratio of output Laplace transfer
in the context of
control of a mechatronic system. function to input Laplace transfer function. So block
SPPU May 15 diagram ofa control system is represented as
3.5.1
Introduction to Transfer Function Ris) C
he transfer function of a control system i
defined as, "The ratio of the Laplace transform o Where R(s) = Lr(t) and C[s) = Lc[) and GS)= £rt)5
Ene output variable to Laplace transform of
the Where, r() and Lc() are time domain function of
put variable assuming all initial conditions to be
2ero input and output signal respectively.

Tec tedgi
 Control systems & transter functlon based modcllinn
ng
3-8
Mechatronics (SPPU)
Signal graph
flow further shortens the
3.5.2 Importance of Transfer Function in representation of a control system.
Mechatronic System
3.5.5 Examples of Transfer Function
Transfer function is the simplest and cheapest Representation
operators in designing control system.
It maintains the structure and other continuous 5.1 Simple Translational Mechanical
operators of a control system. Systems
Transfer function may shows different behavior of University Question
heuristic control system and improves the Q. Explain transfer function based modeling of
performance of control system. Translational Mechanical system. SPPU:Dec. 19
Transfer function integrates two control system and Elements of system are
compress on set of test function.
Elements of
Transfer function shows diverse behavior and has Translational Mechanical Systems
different impacts on the performance of control
system. Mass

Transfer function improves exploration and

Dashpot
exploitation of control system.

3.5.3 Steps to Determine the Transfer 3. Spring

Function Fig. C3.4: Elements of Simple

Translational Mechanical Systems
1. Take Laplace transform of the system mathematical
equations, assuming initial conditions as zero. Equations of each elements
2. Separate out system output and input
1. Mass
3. Take the ratio of the Laplace transform of the output
and the Laplace transform of the input

3.5.4 Representation Methods of Transfer

Function F force
3.5.4.1 Block Diagram Method a acceleration
x displacement
It is not suitable to obtain a complete transfer
m a
function for a complex control system.
The transfer function of every element of a control mm a
system is presented by a block diagram. f mdx
d?
Block diagram reduction techniques are useful to get
the required transfer function. f fm m dt?
3.5.4.2 Signal Flow Graphs 2. Dashpot

The adapted form of a block diagram is a signal fow Fixed

graph.
Block diagram gives a graphic representation of a V velocity
control system.
B damping factor
anld
TedhPadlitatiG9*
 Mechatronlcs (SPPU)
3-9
Control systems&
,V Ex. 3.5.2:
transfer function based modelling
Find Complex Translational
BV function from
example below
mechanical transler

B dt
d1 k

3.
Spring W2
k

Fixed Fig. P. 3.5.2

Soln.
k spring stiffness Step 1:

Free body diagram

ff = kx
C

F
-X)
f=, k{-X) m M
CX
Ex.3.5.1: Write Transfer function of simple mechanical
k2
system with elements mass, spring and dashpot Fig.P. 3.5.2ta)

k
M2 k2
M
f0 G2
H V

Fig.P. 3.5.1
Fig. P. 3.5.2(b)

Soln. Equation from FBD Fig. P. 3.5.2a) and Fig. P. 3.5.26)

Step 1: Free body diagram Step 2: Write equation of system

f-koxy-CX-Ggx-kx1+k+C= m,X 1)
kX
M kCg-k%-Gg%-G-k%= m2Xz (2)
C Step 3: Take Laplace of both side to convert
equation in transfer function.
+GzsX2= m, s?X,
F-X-C,sX -Csk-k,X1t kX
Fig.P.3.5.1(a) = ma,5*X,
Step 2: k,+ CgsA -kA,-Cgsk2 - C,sX-kaX^
Write equation ofsystem
of output/input

Step
-kx-x+f = mx
Step 4: Write equation in the form

1ake laplace of both side to convert AX=Y

equation in transfer function. mis+(CG +Ca) s + k + k] -
Cs+k)
mas (C+Cg)s+
ktk].J x
kX- csX+f = ms*X (C sk) -

tep4: Write
equation in the form of output/input
X()
Gs)
Gs)
Fls)ms +CS* TrdhLeraledgo
 3-10 Control systems& transfer function based modelling
Mechatronics (SPPU

Crammer's rule to solve x2 2s 0.3s4 0

m,s+(C C)s*k,* k; F S1-0.0750 1.41221,

-CsA ) S-0.0750 1.41221
Poleens Ma

A
Xs)

Ex. 3.5.3: For the system shown in Fig. P. 3.5.3ja), assume

m mas = 2 kg. k = stiffness = 4 Nm and b = damping DS 004 003 0 02 0.01
08
=
0.3 Ns/m. Also, F = Force input in N and x displaoement Re Ais (Seands

output in m. For this system: Fig.P. 3.5.3(b)

Derive the transfer tunction: x(s)F{S).

System is stable because poles available at stable
ldentity the location of the Poles and Zeros and region of S-plane.
Comment on the absolute stability of the system.
:
SPPU May 19, 10 Marks 3.5.5.2 Simple Rotational Mechanical System

Elements of Rotational Mechanical System are

Elements of
Rotational Mechanical System
www m

. Moment of inertia of mass

2. Dashpot
Fig. P. 3.5.3ta)

Soln. 3. Tortional spring

Mass m 2 kg Fig.C3.5:Elements ofRotational Mechanical System
Stiffness of spring k = 4 Ns/m
1. Moment of inertia of mass
Damping(d) 0.3 Ns/m

F -m ky
F
203 4 Ttorque
To convert into transfer functions take Laplace of angular displacement
both sides,
FS) 2s y()+0.3 sy ()+4y [) Tdtd2
2s+0.3s+4 20
y(s2s? T
dt
1
252+0.3s+4 2. Dashpot
Dashpot
Find the zeros and poles in given system poles are
roots of adenominators. Fixed condition

Kaealedy
Tech
 (SPPU)
Mechatronles 3-11 Controk ysrma & trarater function based modeling

T,d Step 3: Take laplace of both side to covert

equation in transfer function.
T, B
T 1S'9 KB
Step 4: Write equation in the form of output/input

02

T,dr (-0) Ez. 3.54: Fird Compiex Translational rechanical transfer

furcbon trom erample below
T T,
B-03 T(s)

3.
Torslonal Spring
k
Fixed condition
HorinDt D D2

Soln.

Step 1: Free body diagram

T o0
T ke
T T ke Step 2: Write equation of system
T
T=k 2
T= T = k(0, -0)
-C,ê, -ke, + ke + T =
J
k&
Ex. 3.5.3:Write a Ditferential equation with T input, 8 output

Om Step3: Take Laplace of both side to convert

equation in transfer function.
T Torque
A
angular displacement -Cs6-k6,+k6,+T = so,
Mass moment of ineria s+Cs+k) 8,-ke = T -(3)
K of spring
Stifiness From equation (2)
Soln.
-ki,0ss+Cs+k) = 0 -(4)
Step 1: Free body diagram
Step 4: Write equation in the form of
output/input
From equation (3) and (4) using Cramer's rule
J+Cs+k T|
Step 2:
Write equation ofsystemn
TR k(0-0,) KT
Us+Cs+k0J, 5, +CS+k)-k
2torque T-Ta=]6
G6) s+(Cdh+C J)9+[GCG+kth+Jhdl
0k (-0,) = T +k(C+C)
T g(0-6,)
Tech Laaledgi
titatigad
 function based modelling
Control systems& transfer
3-12
FMechatronics (SPPU) on an
Ex. 3.5.6 :A mass
spring damper system is mounted
system in
Ex. 3.5.5 : For the translation mechanical as shown in Fig. P.
3.5.6(a). Derive the
between massless cart
Fig. P. 3.5.5(a), determine the transfer function output y and input u.
of poles transfer function between
output Z and input u. Also determine the location SPPU: May 19, 10Marks
from the transfer function. SPPU: Dec. 18, Marks
10

M M2
Massless cart-
ww k

www
k

Fig. P. 3.5.5(a)
7777777mnnn7ntnT
Fig. P. 3.5.6(a)
Soln. Soln.
Free body diagram 1. Obtain the mathematical model of the system.
= 100 N/m. Find
2. If m = 10 kg. b 20 N-s/m and k
the response y(t) for a unit step input.
Messiess cat
M M2.Y Y

-ky
ky-u) m m
by-)
Fig.P. 3.5.5(b)

u M,Y +dY +ky + M, (Ý -2) .(1) Fig. P. 3.5.6(b)

1. Apply Newton's second law for a system in

dy translation
M2Z my -ü)-k(y-u) my
F -b0 =
ky-
Summation of all forces
acting on the system
Fig. P. 3.5.5 (c) or

0 dY +ky + M,Z (2) my +by +ky = bu +ku

The latter equation represents the mathematical
Transfer function of Equation (1) and (2) model of the system under consideration.
[(M, +M,) s+ ds k] y(s)- M,s*Z()
+
us) 2. For zero I. C's, taking LT of both sides of the above
0 (ds+k) y(s) + M,s*z(s) equation gives

us) = [(M, *+M,)s*+ ds+k ys)+ (ms bs+K}Y(S) = (bs+k) US)

Taking the ratio of Y(s) to U(s), we find the TF of the
(ds+k)y[s)
system
u(s) = [(M, +M,]s + 2ds+2k]y(s)
Transfer Function (TF) YS) bs+k)
yIs) U(s)(ms2 + bs+ k)
us)(M, +Ma) s?+ (2ds)+2k

Tec aeled
1tt
 (SPPU)
Mechatronlcs 3-13 Control systems & transfer function based modelling
in Fig.
the system P. assume 3.5.6(a),
3.5.6 For =
Ex. k = stiffness= 4 Nm and c= damping
mass 2k
m Also, f() = force input in N and Divide both side by m
Ns/m
0.3
y)=displacement output in m.
=

system:
Forthis function: ylsils) take Laplace of both side
Derive the transfer
location of the Poles and Zeros and
ldentity the
stability of the system
Comment on the absolute
SPPU: Dec. 18,10Marks YS
k Fs)

ww-T y YkY
Fig. P. 3.5.6(a) my" +fintemal = f{)

Soln.
internal
f(t) kyk

my" f[t)-
k) f[c) kyk = cyc
By solving for y, we get
ky f.00-0
intemal

+ cy
but, So kyk
S:Plane
m 2kg
k 4N/m 0.6

c 0.3 Ns/m 0.4

0.

T.F. 0

0.5
s2+6.66s)+8.66
s+6.66(s)+8.66 = 0
S 4.8885
Fig. P. 3.5.6(b)
S2-1.7715
Modeling of Fluid
These poles plotted
on S plane. Transfer Function Based System
m yk+ System
y.)+ka+ cy = f[0)
We know 0,) = Incoming flow rate m/sec
0,(t) outgoing flow rate m>/sec
H (t) Head in tank m
Tech Kauledge
 Control systems transier functton based modelling
&
Mechatronics (SPPU) 3-14

0, (s)= 0 (s)+ A S.H(S)

Solving for H(s)
H(6) = 10, (s)-0,(s)] *AS
Same system can be represented as follows
Fig. 3.5.1 H(o)

R Resistance to flow
Head difference across valve
Flow through valve
Fig. 3.5.2
A cross section area of tank m2
Head before valve = H()
Ifwe combine both the system (A) and (B)
=
,()-0)
Head after valve 0

.Head difference across valve H ()-0 =H (

Discharge through the valve 6, ()
Head difference across valve Fig. 3.5.3
R
Flow through valve
3.5.4 Transfer Function Based Modeling of
HO
R e Thermal System
()
0(0 H( In thermal system basic procedure of heat transfer
from one body to another body.
Taking laplace of both side
Here heat transfer affected by basic laws of
thermodynamics. The first governs the way in which
heat energy is produced and determines the amount
Same system can be represent in block diagram as
generated. The second governs the flow of heat.
follows
The constant that relates temperature change and
-A) heat flow is called the thermal capacity of the body
Now apply law of conservation of mass dT
dyn
m m,* dt =
Where C thermal capacitance (cal/°C)
m = initial mass flow rate =
p-0, (t) dT/dt = the rate of change of temperature
(C/sec)
m. = mass low rate at exit = p Q2 (t)
g heatflow (cal/sec)
M Mass of system = p AH
the thermal capacitance of a body is found by
p Volume of tank C M.S
AH AH (0) =p-A
d Ht
dt Where
S
M = the mass of the body (gm)
the specific heat of the material (cal/gm) (°C)
p6 () = 0, (t)+A.HQ
dt Here thermal capacitance is analogous to electric
capacitance.
dt

Taking Laplace of both side

Teanle
DIuat
 (SPPU)
Mechatronlcs 3-15
Control systems & transfer function based modelling
Insulation

Let H
be a small change in the heat input rate from

Hoat In, - T
fs steady sate value. This change in H will result in
the following changes.
L= Ambiont temperature

Thermal capackance 'C

Change in heat output rate by an amount A H.
Change in heat storage rate of liquid in the tank by
Fig. 3.5.4 an amount AH2:

Change in temperature of out flowing liquid by an

In this example, heat flowing into a body with
amount A6.
thermal capacitance C cause the temperature T to
change in out-flow heat rate is given by
rise above the ambient
valve To

- Charge flow in electrical and heat flow in thermal

system both are analogous. Where Q = Steady state liquid flow rate

- Here heat transfer using conduction, convection and C, Specific heat ofliquid
radiation. AG
AH R
- The rate of heat flow through a body is determined
by it's thermal resistance. Where R
othermal resistance
- Thermal resistance
Change in heat storage rate is given by
RT AH = M C, dA®/dt
thermal resistance (°C/cal/s) M Mass of the liquid in the tank
R
T2-Ti = temperature difference in (°C) d 64/dt = rate of rise of temperature in the tank
AH2 = cd84/dt
q the heat flow (cal/sec)
Where C MC, which is define as
Thermal equilibrium requires that at any instant the
thermal capacitance
heat added (q) to the system equals the heat stored
(9) plus the heat removed (q). AH = AH+AH2
Mathematical model of a thermal system is
9+9
Mixer aH
Liquid out

Taking laplace of both side

Liquid
ob
in W
Heater

tesFig. 3.5.5 3.6 Block Diagram Reduction Rules

Consider

steady state temperature of in-fiowing8 Block diagram reduction rules are explained as
liquid follows

Steady state temperature of out-lowing Rule 1

liquid Y X1-X2-X
Steady state heat input rate from heats

eeouledr
 Control systems & transfer fimctlon based modellng
Mechatronics (SPPU) 3-16
Rule 7: Moving pick of polnt behind a
block

Rule 2: (Associative and Commutative Properties

GGX = G,G,X

-
Y
u
Rule 8: Moving pick of point aheada block

Rule 3: (Distributive Property)

y

Y = G, X-X) = G, X -
G,X

Rule 9: Moving summing point behind a block

Rule 4: (Blocks in Parallel)

u2
Y X (G, +G) = G, X+G X

-
Rule 5:(Positive Feedback Loop)
Rule 10:Moving summing point ahead a block

Y GX+ G2G, Y=1-G, G,

L -u2

L
Rule 6:(Negative Feedback loop)

-
G 3.6.1 Examples of Block Diagram Reduction
Y GX-G2 GY=1+G,G
Ex. 3.6.1: Determine the overall transfer function by uSiIng
block reduction technique for the given system (a) and (D)

L
Techneslrdg
 Mechatronlcs (SPPU) 3-17 Control systems& transfer function based modelling
R(o)
Roducos fo 1+Go)HO) ,G2
O(8) R(s) Cs) H(s}
Rs1
0,0

C) G,G2
R(s)1 Gz H2+G, G,H,

0,(o) Ex. 3.64:Determine the overal transfer function by using

9) 9,(s) 8,)
Reduces to
block reduction technique for the given system.
SPPU: March 19(in Sem.). 6 Marks

Ex. 3.6.2: Determine the overall transfer function by using

block reduction technique for the given system

8-HGT Soln.:
La
Soln.:
Y(s)
X(S)

X) KG,6
- Y
G,G3

-G,0-0y6,66
by using
Ex. 3.6.3 : Detemine the overall transfer function
block reduction technique for the given system
Cs)

-
-
Soln.:
R($)
L -
B(s

R(s

L
Trchapaledge
 Control systems & transter functlon bascd modell
clng
3-18
FMechatronics (SPPU)
Soln.

a,9) C

transter function by using

Ex. 3.6.5: Detemine the overall
given systen
block reduction technique for the

E G,o)F G,(6) G) 1 +G))

,(6)60) H,1+G5HOT
C(s)
+G)H,6)+G
Magor oop Intemeiae lkop

overall transfer function by usino

Ex. 3.6.7: Detemine the
block reduction technique for the given system
Soln.

C(o)

G,H,
G,s) G Gg) C
60H00160H
C(o)

Ge) G) C(s)

Gs) G) H,fs)
160)61H)

C(s)

Ex. 3.6.6: Detemine the overall transfer function by using

block reduction technique for the given system
- Y

C
 Mechatronlcs (SPPU) 3-19 Control systems & transfer function based modelling

Soln. Ex. 3.6.9: Detemine, using block reduction technique the

o,0,0,00) Y overall transfer function y(s)/x(s) for the system in figure.
SPPU April 12

Fig. P. 3.6.9

G,G656) Soln.:

R(s)

Fig.P. 3.6.9(a)
R(9)
Y(S)
6,6HJA (66)GH6-6,6,946;0H
T62
Ex. 3.8.8: Detemine the overall transfer function by using
block reductlon technique for the given system

Fig. P. 3.6.9(b)

Y(s)

+6G,*K¢G,9
Soln.

G,GKc Y

Fig.P. 3.6.9(c)

Ex. 3.6.10 From the block dlagrarm in Fig. P. 3.6.10,

G) CO detemine the transfer function: C/R.
SPPU-Dec. 15, 4 Marks

025
Flg.P.3.6.10
Ro) G() G61+G Co
dualedn
PaBLlion4
 Control systems & transler fiunctlon basecd modelllng
Mcchatronics (SPPU) 3-20

Soln.

Fig. P. 3.6.10(a)
Fig.P. 3.6.12

Soln.

Fig.P. 3.6.10(b)

0.5 X()
Transferfunction 5+2 0.1587

Ex. 3.6.11: From the block diagram in Fig. P. 3.6.11,

detemine the transtor function: YX.
SPPU-May 15, 4 Marks Fig. P. 3.6.12(a)
Y(S)

Fig. P. 3.6.12(b)
Fig. P. 3.6.11

Soln.
X(S) 0,G Y(s)

Fig. P. 3.6.12(c)

Ex. 3.6.13 : From the block diagram in Fig. P. 3.6.13,

detemine the transfer function: C/R.
Fig. P. 3.6.11(a) SPPU-May 16,4 Marks

Fig.P. 3.6.11(b)

Fig.P. 3.6.13

A Fig. P. 3.6.11(¢)
Soln.

Ex. 3.6.12 Reduce the block dlagram in Fig. P. 3.6.12.

3

Determine the transfer function YIs)XIS)

SPPU-April 16(In Sem)

Fig. P. 3.6.13(a)

Karuled
Toch
 (SPPU)
Mechatronlcs 3-21 Control systems & transfer functlon based modelling
R Soln.
10,0-
Fig.P. 3.6.13(b)

From the block diagram In Fig. P. 3.6.14,

Ex 3.6.14:

-
function: X/.
dolomine tho lransfer
SPPU Dec. 16, May 19,8 Marks Flg.P. 3.6.15(a)

G,02
0,H6,0|

Soln.
- Fig. P. 3.6.14
Flg.P. 3.6.15(b)

Fig. P. 3.6.15(c)

Flg. P. 3.6.1s(d)

for
Ex. 3.6.16: Determine the transfer function, Y(s) /R(s),
Fig. P. 3.6.14(a) the system in Fig. P. 3.6.16.
SPPU Aprll 17(In Sem).8 Marks

R
Fig. P. 3.6.14(b)

L
1G,0,,+G,6,0H2
Flg.P. 3.6.16
Fig. P. 3.6.14(c)
Soln
EX 3.6.15 in Fig. P. 3.6.15 and
:Reduce the block dlagram
detemine the transter functlon: C/R.
SPPU-Dec. 16, 8 Marks Y0

L -
Fig.P. 3.6.16(a)
Fig. P. 3.6.15 Techavuledo
 Mechatronics (SPPU) 3-22 Control systems& transfer function based modelling

R 2x 10 C(s)
-(2x1.5
Y(s)

Fig. P. 3.6.17(b)

RIS C(s)
10
Fig. P. 3.6.16(b)

Y(S)

-
Fig.P.3.6.16(c)
H3
R(s)
Fig. P. 3.6.17(c)

-10
1+(10x0.1)

Fig. P. 3.6.17(d)
C(s)

R(S)
G,,,94 Y(s)
Ex. 3.6.18: Detemine the composite transfer function CIR
for the system in Figure. SPPU April 15, 4 Marks

Fig. P. 3.6.16(d)

Ex. 3.6.17: Detemine the transfer function of following

diagram. SPPU-May 17,4 Marks

Fig.P. 3.6.18

Soln.

Fig. P. 3.6.17

Soln. Fig.P. 3.6.18(a)

Final solution
RG
H |s1+,
16H,)
Fig. P. 3.6.18(b)

Transfer function Gz(1G)

Fig. P. 3.6.17(a) =1+G (G- H)
Ex 3.6.19 Reduce the block diagram shown
Fig. P. 3.6.19(a) below and
detemine the transer function,
C/R.
SPPU: March 18(in Sem.
Tecaleda
 Mechatronics (SPPu
3-23 Control systems& transfer function based modelling

Fig.P. 3.6.19()
Fig.P.3.6.19(a) G6G2+G
Soln. 1-G,G4H

Fig. P. 3.6.19(g)

(9,9G2G)
1-G,GH
G,G HaG2+G2
Fig. P. 3.6.19(b) (1-G,G4H)

Fig.P. 3.6.19(h)
(GGaGa+G)
**"********

l-~----*--**
Transfer function=
--C-.G.H
1-GG4H
G,GHaG2 +G3)
(1-G,GH)
G,GG2+Ga)
a
******---

(1-G,H -G,G,HG2 +Gg))

Fig. P. 3.6.19(c) Ex. 3.6.20 : Reduce the block diagram in Fig. P.
3.6.20 and
detemine the transfer function:c
R(s)

- SPPU: Dec. 18, 8 Marks

Fig.P. 3.6.19(d) - Fig.P. 3.6.20

G,G
-G,04
Soln.
-
Fig. P. 3.6.19(e)
-
ecTaeladgi
Mechatronics (SPPU) 3-24 Control systems & transfer function based molellng

G4(1-(GG6H1))
G G2,(Gz 64* Gs)
(1-(G4G6H,))

ES G,G6G,G,+Gs)
1-6, GH
Y

GGGGG,+Gs)
(1-6 GgH,))

GGGsHaG,S4+65)
Y(s) (1-46, GgH,)
G 9-39cHT
AIS) G,GGGGa+Gs) YIs
1H6, GgH,) +G,GGHa{G64+6g)

Y(s) G G2G6 (G3 G4+ G5)

YS)
R (1-G4GgH))+G G2G6 H2 (G3 G4* G)

3.7 Applications of Mechatronic

Systems Designs
Y(s) University Question
G,G
Q. Using a suitable diagram explain the application of
Mechatronics in an automotive system.
SPPU: May 19
Application No.1
University Question
Q. Draw a suitable block diagram and discuss the
application of Anti-lock braking in four wheel
automobiles.
SPPU: March 18(In Sem.), March 19(In Sem.

Distance maintains between two vehicles system

G4 G6 Measure distance and velocity to autonomousiy
1-(G4 G6 H1)) maintain desired distance between vehicles.
G4 G6 This technology provides the capability to control
the distance between the vehicle and an obstacle (or
1-(G4G6 H)) another vehicle) by integration the detector with the
controller and ABS systems.
 Mechatronics (SPPU)
3-25 Control systems& transfer function based modelling

v) Valves
Frort whe Front whee

Range and
volocity a0 Spod Speed
medsurod by ons ABS sensor
(gdar

Brak
control
Fig. 3.7.1

The driver is ready to set the speed and also the

desired distance between the cars ahead of him.
The ABS system and also the cruise control system Rear whee Rear whe6el
are coupled along to securely accomplish this Fig. 3.7.2
outstanding capability. Sensor attached to wheel measure speed of wheel
One logical extension of the obstacle avoidance continuously. If speed of wheel changes drastically
capability is slow speed semi-autonomous driving ABS activate.
wherever the vehicle maintains a constant distance - Drastical reduction of wheel speed occurs skiding of
from the vehicle ahead in traffic congestion
wheel ABS apply force on wheel to avoid skiding of
conditions. wheel.
Anti-lock braking system (ABS) is a system used in The brake control unit reduces the line pressure
vehicle to avoid skid. ABS comes into action when with the help of valves in the system.
sudden brake apply on system.
When the braking force reduces, the wheel starts
When sudden brake applied on the wheels then
rotating at a higher speed; thereby avoiding the
possibility of 'wheel lock'. Due to the 'wheel lock wheel-lock.
driver losses control over vehicle.
As the wheel doesn't lock, steerability of the vehicle
The ABS prevents the wheels from locking, thus remain intact which means that vehicle moves
preventing uncontrolled skidding of the vehicle and according to driver's input without skiding.
reducing the distance traveled without falling.
Once the normal condition is restored, the brake
Anti-lock braking system is a safety system in cars control unit restores the hydraulic pressure in the
and other automobiles that prevents their wheels brake line with the help of a pump.
from locking and helps drivers maintain steering ABS has four major components
control. Also known as an anti-skid braking system,
1) Speed Sensor: Sensor keep on eye on speed of each
it sometimes enables the wheels of the vehicle to
wheel and decide the necessary acceleration and
maintain tractive contact on the ground so does
deceleration of the wheels. It composed of an exciter
not go into uncontrollable skids.
and a wire coil/magnet assembly, which create the
ABS generally offers improved vehicle control and pulses of electricity as the teeth of the exciter pass in
helps to reduce the gap between dry and slippery front of it
surfaces.
2) Valves: ABS regulates the air pressure on the valve
Components required in Anti-lock braking system brakes during operation. The brake line of each
(ABS) brake has a valve that is controlled by the ABS. The
) Control system open valve allows the pressure on the master
cylinder to be transferred to the brakes. When the
i) Speed sensors brake valve is closed, the pressure from the master
ii) Hydraulic system cylinder to the brake is reduced.
iv) Pumps
Techanedy
PabLtiths
 Mechatronies (sPPU) 3-26 Contol systems & transfer Mmetlon based modolling
P'aper oxtt

3) Electronic Control Unit (ECU) : The ECU is an

clectronic control unit that captures and filters
sensor slgnals to measure wheel rotation specd and Minur Lasor
Lghi
acceleration. According to data analyzed by the ECU PCharge corona

unit it receives signals from sensors in the circuit Photoconductihe

drum
and controls the brake pressure. Paper
transpon Fuser un
Tonor
4) Hydraulic Control Unit: The hydraulic control unit (Dovalopern
unt
receives signals from the ECU in anti-lock conditions
to apply or release the brakes. The hydraulic control Tmnsfer corona

unit controls the braking by incrcasing the hydraulic Papor:

pressure as well as bypassing the pedal force to
reduce braking power. Fig. 3.7.4
The above four clements are shown in the given Next, a blank piece of paper is retrieved from a
Fig. 3.7.3. loading cartridge, and also the image is transferred
ABS brakn onto the paper with an electrostatic deposition of ink
toner powder that's heated to bond to the paper.
Hydrae Brate A sorting mechanism then optionally delivers the
Cunbo Conto
mod ulator module copy to an appropriate bin. Analog circuits
management the lamp, heater, and alternative power
circuits within the machine.
Btake Digital circuits control the digital displays, indicator
mee lights, buttons, and switches forming the interface.
cy'ander

Alternative digital circuits include logic circuits and

microprocessors that coordinate all of the functions
within the machine.
Optical sensors and micro-switches observe the
Fig. 3.7.3
presence or absence of paper, its correct positioning
Types of ABS and whether or not or not doors and latches are in
their correct positions. alternative sensors include
1) Three channel-four sensor ABs.
encoders used to track motor rotation.
2) Four channel-four sensor ABS.
Actuators include servo and stepper motors that
3) Three channel-three sensor ABS. load and transport the paper, turn the drum, and
Application No.2 : Copy Machine index the sorter.
Application No.3: Door System/Module
A workplace copy machine may be a good example of
a recent mechatronic system. It includes analog and In this technique the door lock/unlock switch
digital circuits, sensors, actuators, and microprocessors. actually sends power to the actuators that unlock the
door.
The copying method works as follows: In additional difficult systems, the body controller
The user places an original in a loading bin and decides once to do the unlocking. The body
pushes a button to start out the process; the initial is controller is analogous to a computer that monitors
transported to the platen glass; and a high intensity all of the possible sources of lockup and unlocking
light source scans the original and transfers the signal in a automotive.
corresponding image as a charge distribution to a The system monitors the radio frequency ana
drum. unlocks the doors once the proper digital code 15
received from the transmitter.
TecKaraledga
 Mochatronles (SPPU)
3-27 Control systems & transfer functlon based modeling
1. Pneumatde (compressed yases)
2. Hydraulies (compressed Jquids)

Poor convorsion
urt
r Dod

Sonsoro Contrcklo Actuators

Usor
Gmr Winmbw Llunit n wd
intorlaco
CAN hs g

Flg. 3.7.5 Manipuato

inkago
- Once the actuator moves the latch up, it connects the
Base
outslde door handle to the opening mechanism.
Once the latch Is down, the outside door handle is
Fig. 3.7.7
disconnected from the mechanism in order that it
can't be opened Actuation

Application No.4: Pick and Place Manipulator Actuators are Just Iike the "muscles" of a robot, the
components that convert stored energy into
movement. out and away the foremost popular
actuators are electrical motors that spin a wheel or
gear, and linear actuators that control industrial
robots in factors. however there are some recent
advances in various forms of actuators, powered by
electricity, chemicals, or compressed gas.
Touch
Robotic and prosthetic hands receive tactile
information as the human hand.
Researcher developed a tactile sensor array that
mimics the mechanical properties and touch
receptors of human fingertips.
Vision
Fig. 3.7.6
-Computer vision is that the science and technology
Structure of machines that see.
The structure of a robot is sometimes principally As a science, computer vision is bothered with the
mechanical and may be known as a kinematic chain. idea behind artificial systems that extract data from
pictures.
The chain is made of links, actuators, and joints
which might permit one or additional degreesof Manipulation
freedom. Robots that should add the important world need a
Power Supply way to control objects; pick up, modlfy, destroy, or
otherwise have an impact. so the 'hands' of a robot
At present largely (lead-acid) batterles are used,
are typically referred to as end effectors, whereas
however potential power sources may be:
the arm is referred to as a manipulator.

Tech Kualodg
fbtationt
 Control systems & transfer function based modclling
(SPPU) 3-28
Mechatronics
shows output
analog signal to digital signal display
Mechanical Grippers
the
that is value of counted by sensor.
One of the foremost common effectors is that conveyor,
Then parts are flowing on horizontal belt
gripper
speed of belt conveyor is high
through this proper
2
In its simplest manifestation it consists of simply distance is maintained in between components.
fingers which might open and close to pick up and let Belt conveyor sensor is mounted that
counts the
go of a range of little objects. variety of components that are passing
by and its

value is shown on display panel.

Vacuum Grippers
Counted parts can come down in box through
Pick and place robots for electronic elements and for
-

conveyor and operation completed.

giant objects like automotive windscreens, can
typically use very simple vacuum grippers. Application No.6 Automatic Pallet Changer
Mechanism (APC)
Application No.5: Piece Counting System

IR sesor

Fig. 3.7.8

Manufacturers produces a large amount of objects

like nuts, washers, bolts, box. The counting of this
objects takes a lot of your time once a large order is
received. Automatic counting system will be used for Fig.3.7.9
such kind of bulk orders. This reduces the chances of The palletizing system consists of 2 mechanisms
errors in count.
the automated pallet changer and therefore the
Infrared (IR) sensors can be used for object sensing clamp/unclamp mechanism that is set on the
and depends on the reflectance characteristics of machining center table.
object. Selection of best material handling equipment
The pallet positioning and clamp/unclamp
and use of IR Sensors will be used for object count
mechanism secures (clamps) and releases
thereby increasing productivity and reducing
(unclamps) the pallet on the machine tool table
operational prices.
(positioning base), such a mechanism is given in
Counting of parts take place through infrared sensor figure
that is main a part of counting circuit. Sensor senses
The pallet ever-changing mechanism is a device that
the components once conveyor is rotating and
material is fowing on belt role is to vary the pallets carrying the workpieces

Infrared sensor is best for high speed counting of

from the pallet loading station/pallet magazine t
the machining center table/workstation.
small plastic components, range of sensor is adjuste«
with help of knob. Sensor counts the connector The main advantage of pallets is that they will be
elements and send signal to IC, after converting this used for each transport and storage of workpieces

TechKarmled
FMechatronlcs (SPPU) 3-29 Control systems & transfer function based modeling

The automatic pallet changer mechanism is revolved coded Instructions that refer to specific distances,
using a hydraulic cylinder to automatically exchange positions, functions or motions that the machine tool
the pallet within the machining chamber with the will understand.
pallet on the loading station. CNC automatically guides the axial movements of
The main elements of the automated pallet changer machine tools with the help of computers. The
are automatic pallet changer arm, cam follower, auxiliary operations like coolant on-off, tool change,
positioning pins, safety device pins, cam, piston door open close are automated with the assistance of
(automatic pallet changer arm clockwise and counter micro-controllers. modern machine tools are
clockwise rotation), piston (automatic pallet changer currently equipped with friction-less drives like re
arm up/down), the automated pallet changer's circulating ball screw drives, Linear motors etc.
housing

Application No.7Computer Numerical Control

(CNC) Machines

Encoo

Manmchino
interdou
Fig. 3.7.11
Fig. 3.7.10
CNC Components
Computer numerical control (CNC) machines CNC - Machine tool
machine is that the best and basic example of
Actuators (motors)
application of Mechatronies in manufacturing
automation. efficient operation of standard machine Drive circuits to operate the actuators
tools like Lathes, milling machines, driling machine Sensors to provide feedback signals
relies on operator ability and training. Conditloning circuits for the sensor signals
- Also lots of time is consumed in workpart setting Controller (PC-based and microcontroller-based)
tool setting and controlling the process parameters Mechanical body and parts.
viz. feed, speed, depth of cut. so typical machining is
slow and costly to fulfill the challenges of often Application No.8 : Washing Machine
changing product/part shape and size. University Question
Computer numerical control (CNC) machines are a. Draw a block dlagram for any household appliance
currently wide utilized in little to massive scale consisting of various elements which build the system.
industries. CNC machine tools are integral a part of Explain the function each block therein.
of
computer aided manufacturing (CAM) or computer SPPU April 15, March 18(In Sem.)
Integrated manufacturing (CIM) system. CNC means In a domestic washing machine a number of
that operative a machine tool by a series of coded operations need to be carried out in the correct
directions consisting of numbers, letters of the sequence. These could involve the pre-wash cycle,
alphabets, and symbols that the machine control unit once the closes within the drum are given a wash in
(MCU) will understand.
cold water, followed by a main wash cycle when they
These directions are converted into electrical pulses are washed in hot water, than a rinse cycle once the
of current that the machine's motors and controls closes are rinsed with cold water variety of times,
follow to hold out machining operations on a followed by spinning to remove water. from the
workpiece. Numbers, letters, and symbols are the clothes.
Tech Kneuledgo
Mechatronics (SPPU) 3-30 Control systems & transfer function based modellin
Inputs
Each of those operations involves variety of steps.
Fig. 3.7.10 shows the basing washing machine
system and offers a rough idea of its constituent Program CoTecton Proces Outputs
elements
components. In former times the program was Water
Control
Pamp kavol
accomplished by a system by suggests that of a unit
group of cam operated switches. Vabve Washing
Water
tomporature
machine

In moderm washing machines the controller could be Honir drum Drum

5peea

a microprocessor and also the program isn't Door

Motor olosed
equipped by the mechanical
For the pre-wash cycle an electrically operated valve
is opened and cold water going into the drum for a
Foodback trom outputs of waker lovol, water temperature, drum speed ad door dosd
period of your time determined by the software
system of the microchip. Fig. 3.7.12

Depending on the load of the washing good a University Question

selected level of water within the drum are reached a. Explain the control system used for iollowing
and also the water valve are closed A sensor used to Controlling the water height in tank
provides a signal once the water level has reached () Actuation of streetlights at6 p.m. (SPPU:May 18)
the predetermined level and provides an output () Controlling the water height in tank
from the microchip that is employed to switch off the
Block diagram
current to the valve. Input Control Pioces
************
**************r*********** ***********
For the most wash cycle the microchip provides an
output that starts once the pre-wash a part of the
Input switch
ONOFF cood
program is completed; this level is detected and also
the water shoot off once the specified reached.
Water leve
temperature sensor is employed to switch off the tensot

current of the heating once the water temperature Feedbadk

reaches the preset value.

The microchip switches on the drum motor to rotate Fig.3.7.13
the drum. The drum is rotating for a time Tank water height control system is a close loop
determined by the microchip. After this time the system. It consist of input, process controller and
microchip switches on the pump to empty the water feedback.
from the drum.
Input given to process is switch ON/OFF. Motor is a
The rinse a part of the operation is currently process which lift water from low height to high
switched as a sequence of signals to open valves height.
which permit cold water going into the machine,
Microcontroller continuously monitor water level
switch it off, operate the motor to rotate the drum,
and lf water level increases than desire level send
operate the pump to empty the water from the drum
signals to relay to stop motor.
and repeat the sequence varlety of times.
Continuously water level sensor send signal to
The final a part of the operation is once the
microcontroller. To sense continues water lev
microchip switches on simply the motor a higher
capacitance type, ultrasonic type or conductive
speed than for the rinses to spin the clothes.
type water level sensor can be use.
 Mechatronics (SPPU)
3-31 Control systems & transfer function based modelling

street lights at 6p.m.

i) Actuation of material handling system for the transportation of
Input Controller Process different goods that can be transported.
**
The Fig. 3.7.15 shows the PLC connection to different
Switch Microcontroller Street components of the conveyor belt system. The conveyor
ON/OFF light
belt system is often operated by a PLC control system in
the industry. The PLC can be used as an operating
Fig. 3.7.14 system in industrial conveyor belt. Different types of
PLCS are available in the market today which facilitates

Actuation of street light is a open loop system. it easy implementation of conveyor control system.
consist of Input, control and process. The PLC program contains rules that help to create a
If input given with the help of switch, micro logic relationship between the input and output of the
controller start street light. But time after 6 pm then controller. Basically they use logic operands: and, or.
street light not possible to start If-then rules are used. The PLC reads all field input
devices through the input interface. The application
- It is simple open loop system, monitoring or process
not required. executes a user's program stored in memory, then turns
the field output device on or off, or any control required
Industrial Conveyor System for the processing application, depending on any control
University Question program the user has programmed. PLC program solves
in a
Q. Draw a suitable block dlagram and discuss the rules (sequential execution). The PLC operates
application of Mechatronics in Industrlal
Conveyor synchronous way so that the information within the
System SPPU: March 19(In Sem.) scan cycle does not change.
Moton
Conveyor servo
Comnunicalion-
drlve 3.8 Concept of Poles and Zeros
Processor Filler servo drive
University Question
Q. What are zeros and poles? SPPU: Dec. 19
To define poles and zeros consider transfer function
consist of two polynomial.
Bottlo tler NS)
Bervo molor
H () Dts)
N($) and D(s) are polynomlal

Zeros: The roots of N(s) i.e. numerators of the

transfer function obtained by setting N(s) = 0 and
solving for S.

Poles: the roots of Ds) ie. denominators of the

= 0 and
transfer function obtained by setting D(s)
Conveyor solving for.
5ervo motor

Ex. 3.8.1 Find zeros and poles

Fig. 3.7.15

Hs) S+3
Conveyor systems help to transport content
of
with
conveyor
0.45
minimal effort There are different types Soln.
rollers,
systems that have a frame, which supports N(s) numerator
wheels or belts, on which materials can be
transported
D(s)-> denominator
powered by
from one place to another. They can be
N(S) s+3
motor. gravity, or manually. Different products require
a
Trdlaldi
 Mechatronles (SPPU) 3-32 Control systems & transfer function based modelling

Ds) S+0.45 Two roots i.e. poles of a system can be represent on

Set N(s) to zero and solve for s. S-plane.
Always poles represent on left side shows system
N(s) =
s+2 =0 more stable as compared to right side.
S -2
Set D[s) to zero and solve for s to obtain the poles
D(s)= s+045 0 -
Stable Unstable
s iv0.45 -iv045
3.9 SPlane Plots 23

University Question
Q. Draw suitable sketch to depict the unit step response 3
ofa second order system when:
( System poles are negative and real. Fig. 3.9.2
(i) System poles are complex conjugate pair with we represent poles
negatve real part If -
1+j and - 1 -j on splane
then
(i) System poles are positive and real.
(iv) System poles are a imaginary pair with no real
part SPPU-May 15, May 19
2
Root of S used to plot a S-plane.
Using S-plane we can represent roots of S from poles
and zeros on a graph. +1 2 +33

S plane plots consist of x axis and y-axis on which

we can represent imaginary and real part of root.
On x-axis take real part and on y-axis take imaginary
part
4 Imaginary Fig. 3.9.3
axis Poles on left side of y-axis so we can say that system
is more stable.
Real axis Following graph shows the behavior of control
system according to the position poles in S-plane.
Exponentialy
Damped growing sinusoida
Fig. 3.9.1:S-Plane sinusoidal Pure
sinusoidal
Take example of transfer function

G(s)
2s+2
AA
A
To find poles take roots of denominators
s3+2s+2
s =24-4x1x21
So roots ofs are
Damped Growing
-1+j and -1-j exponential exponentlal
Fig. 3.9.4
Tedhaoaledga
PoblitaioR)
 Mechatronls (SPPU) 3-33 Control systems & transler function based modelling

EY. 3.9.1 For the system in Fig. P, 3.9.1 assume

1 kg. K = stllfness = 2 Nim and d = Damping
m mass
0.5 Ns/m. Also F forco input in N and y = dispacement
output In M. PdeP,adPg

For this system

-2
Dotermine the transfer function y (s/F(s)
(U) ldentily tho location of the poles and zeros
Stabls
H) Comment on the stability of the system. reion
May 15. Dec. 15. May 16. 3 Marks

Fig. P. 3.9.1la)

System is stable because poles available at stable

region of S-plane

3.10 Mapping of Pole, Zero Plot with

amping Factor, natural Frequency
and UnitsStep Response
Fig. P. 3.9.1
Second order system equation plot on s-plane
Soln.
Mass m HG) ko
1kg 2+230s+
Stiffness ofspring K = 2 N/m Poles of transfer function
Damping (d)
=
0.5 N/s m s+2 as+ u = 0

F +2as+*-d+t = 0
m+d dt*ky
(s+Eo)- +o = 0

dy
s2 (a V1-F}* =0
F 1+0.52 Roots ofs are
To convert into transfer functions take Laplace of
both sides,
S-joy1-
F(s s y (S)+0.5 sy (s) +2y ($)
OR
S-0- joy1-F
Same system can be represent on s-plane graph
EIS=s2 +0.5s+2
y (s) Imaginary part jaov1-
yS Real part t-o
F(s) s2 +0.5s+2
Find the zeros and poles in given system poles are
roots of denominators
s+0.5s+2 = 0

S -0.25
S2 -0.25
So poles are -0.25 and -0.25
No "zeros" available in given transfer function plot
on S-plane
Fig.3.10.1
Trech Taledr
FMechatronics (SPPU) 3-34 Control systems & transfer functton based modelling
=
-When31<1, thepoles are a complex conjugatepair s-(-2 3)) (s-(-2- 13)) s* 4s 13
which can be written in polar form and in Cartesian
H6)
form k 4s 13
S52ogt j»y1- Representation of system on S-plane
I(s)
where | s| = 0

and p tan1 cos

(1)Undamped system [E0]

S.S-atjav1-
+1+2+3 R(s)
= 0j
Poles are purely imaginary lie on y-axis
(2)Underdamped system [0«« 1}
S1S2-atja V1-
Poles are complex conjugate lie in lef S-plane Fig. P. 3.10.1
Transient response is oscillatory.
(3) Critically damped system [E = 1] Ex. 3.10.2: Find value of and report the kind of response
expected.
S,S2-o,tja,v1 -3=a
Real, negative and equal system
-Rise slowly and reaches final value
(a)
(4)Over damped system >1]
SS2-Eo,ta V-1 RS) 16

s85+16 Cs
(b)
P = tan-1
R() 20
Real and distinct s+Bs+20
Undamped
()
UndedTped Fig. P. 3.10.2

damped Soln.
Cntical damped
Over
Match the form with

b
HS)S?+as+b and
Fig. 3.10.2
HS)
Ex. 3.10.1: A second order system have a poles s =-2 s2 +2E0,s *
t j3 and a single zero at the origin of the s-plane. So
represent a transfer function of control system on S-plane.
. a = 2g,

Soln. Vb
Condition
1. A single zero at the origin of the S-plane, so the Therefore solution for (a). (b) and (c)
numerator is only S. (a) We find
- =1.155
2. Poles are S= 2tj3. So denominator is

TochKeenled
PabiittioD
 Mechatronlcs (5PPU) 3-35 Control systems & transter funcion based modellin
systen Isoverdamped because,
Then
Is critically damped
1. Then system
(b)-
0.894
() system Is underdamped because E e 1

Then the
Step 3:
3,11 Routh Hurwitz Criterion
Complete the third rorm
Call the new entries
Unlversity Question b.b
first tow
a. Explain two steps of Routh Hurwetz criterion in detail The third row will be the same length as the
SPPU:May 18

Explain In detail stability analysls

using Routh Hurwitz -det
a.
Criterion with suitable example. SPPU:Dec.19
3
To understand Routh Hurwitz criterion consider a

function. - det
close loop system transfer

Hs)
bg s+b
s-l.bs+bBS
a0S +a s-+..+a-15 +a A[S)
a
- Where a's and b's are real constant and m Sn. Routh
deta 0
b
Hurwitz criterion find the number of dosed loop
- The denominator is the first entry from the previous
poles in the right halfs plane.
row.
- Routh simplifñed the process by introducing a - The numerator is the determinant of the entries
tabulated method in place of Hurwitz determinants. from the previous two rows.

The first columa

3.11.1 Procedure for Routh Method

Step 1:Write

d(s) =
the polynomial as
a,s" +an-1 s-t .+ a1S+a
The next column following the

- det
-
coeficient

a-1
Step2:
Write the coefficient in 2 rows - Ifa coefficient doesn't exist substitute 0.

Step 4:Completed Routh table

First row starts with an
-
Second row
s 4
starts with ag-1
Other coeficients
alternate between rows.
Both row
should be same length
Lontinue until no coefficient are
let
a a-b =
b a =0

Add zero
as last coeficient if necessary
Layout for routh table

b
d =0
CL
C
tIatieas
 FMechatronics (SPPU) 3-36 Control systems & transfer function based modelling

Note

,
2 10
According to theorem, 0
The number of sign changes in the first column of the
routh table equals the number of roots of the
polynomial in the close right half plane.
Also in routh table any row can be multiplied by any
positive constant without changing the result. L,
Ex. 3.11.1: Suppose we have a stable transfer function s 10 0

G) ($+2)6 +3)(6+5) to improve perfomance we Two sign changes in the first column of table the
close the loop with a gain 1000. equation has two roots in right half of the S-plane.
RG) 1000 C(s) Two roots in the right half S-plane indicate that
2)6+3)(6+5) system is unstable.

.
Ex. 3.11.2 Using Routh Hurwitz criterion, determine the
Fig.P.3.11.1 range of k that would confirm closed loop stability of system
Closed loop transfer function is given by s+
101.71s2+ 171s + 6.63k = 0

1000 SPPU: May 19. 6 Marks

s+10 s +31s+ 1030 Soln.:
1
Find given system is destabilized or not. 171
Soln. Routh table s 101.71 6.63k
1 -1101.71 6.63k|1 1
31

103 0
101.71 101.71
101.71
0. 0 LE
-6.63k-(101.71 x 171] g

03l..2 1103|
,
0 6.63k
171-101.71
101.71

101.71
6.63k
6.63k
103 -
72 171 10171
Divide the second row by 10 6.63k
171-101.71
Here two sign change in column one 6.63k
- 72 first change order to keep the control system stable, the first
In
- 72 103 second change column value should not have a change in sign so that k

From this we can say two poles in closed right half must be zero or greater than zero to keep the system
plane. So feedback of a system is destabilizing stable.
k2 0
Ex. 3.11.2: 2s'+ s°+ 3 s+ 5s + 10 0. Find system is
R
stable or unstable must be less than zero to keep the control system
Soln. unstable.

Draw Routh table, k0

Tdaseledgo
tatit
 Mechatronics (SPPU
41 3-37 Control systems& transfer function based modelling
3.12 Special Cases in Routh Criteria Taking the
limit> 0, the first element in row 2 is
negative, while the first element in row 1 is positive
1
Ex.3.12.1:G9s+2s+2s+45+11s+ i.e. there are two sign changes in the first column
10 indicating there are two roots on the right plane.
Find system is stable or unstable Ex. 3.12.4 : D(s) = S° +2s + 24s+ 48s- 285 50 0
Soln.: Routh table Find system is stable or unstable.
Soln.

2410
|o|6|0 s Z1
1 24

46 24
25
80 -25
Next entry in the table will be s all row elements are zero)
dee4 48
0 1 12

-Here in column one zero so the system is only s 24 -

50
marginally stable. Small change in the coefficient 14.08 0
lead to instability. s-50
Ex. 3.12.2: Detemine acceptable gain value of transfer It is possible that all elements of a row, assumed to
SPPU:Dec. 18. Marks be the ith row are zero in such the rest of the routh
function 6 array can still be obtained by the following step.
k
HG)
s(s++1s+2)+k treat the previous ( 1)th row as an auxiliary
polynomial P(s).
Soln.: Characteristic equation is
2. Take derivative of P(s) and use the resulting
s+3 s+3s+ 2s+k=0 coefficient as the element of the it row.
Routh array is 3. Continue as normal to obtaln the rest elements of the
s 1 3 k array.
Here all elements in row 3 are zero, an auxiliary
s3 20
polynomial is formed using the elements of the
s2 7/3 k
previous row and its derivative is obtained.
P(s) = s+ 24s-25

s k dsP)= 4s+ 48s

Condition for stability is 14/9>k>0 The coefficient of P{s) is then used as the elements of
the row and the process continues as normal. As
Ex.3.12.3: s+3s+2s"6s + 68+9 =0. Find system is there is only one sign change in the first column,
stable or unstable there is one root on the right plane.
2 6 - The auxiliary polynomlal

1 2 3 Ps) = s'+24s-25 (s?-1) (s+ 25)

can be solved to find it's roots st1 and s = tis
=
'3
They always lie radially opposite in the S-plane the
(2E-3)/ 3 original characteristic polynomlal can be factored as
(2E -3) 0 s+2s*+24s+ 48s2-25s
s3-3/ D(s) 50
3 0 (s+24s-25) (s+2) =0
Soln. It can be seen that the root of D(s) Include those of
is replaced by a small value > 0 D(s), with an additional one s = -2.
-In this case zero
and the elements of row obtained in terms ofe.

Tachlasledgo
 Control systems & transfer function based modelli
3-38
Mechatronics (SPPU)
Writo down tho baslc
bullding block of thomal systom
6.
Review Questions fluid systom
7. Explaln building blocks of

1. What is mechatronics and why mechatronics7 B. Write part from Box

at the end of mapping of polo and

Explain mechatronkks system design with steps usedin zero point.

2.
mechatronics system design ? tho application of
9. Using a sultable diagram explaln
Mechatronics in an automotive systom.
3. Draw a suitable block diagram and explain the working
of open loopp control system. 10. Define zeros and
poles.
working
Draw a suitable block diagram and explain the Hurwitz Grlterion with suitable
4. 11. Explain in detail, Routh
of closed oop control system. example.
and
5. Give Comparison between Open Loop Control
Closed Loop Control.

RTechilwdeda