MECHATRONICS UNIT-4

Very Short Question;

1.What is the mechanical system by using spring of a building block?
Mechanical system by using spring of a building block: A mechanical system that uses a
spring as a building block is a system that involves forces and straight-line
displacements without rotation.
SPRING: Springs represents the stiffness of the system. The fig. shows a spring subjected to
force F. The stiffness of a spring is described by: F=k.x
The object applying the force to stretch the spring is also acted on by a force (Newton’s third
law), this force will be in the opposite direction and equal in size to the force used to stretch
the spring.

The spring when stretched stores energy, the energy being released when the spring springs
back to its original length. The energy stored when there is an extension x is:
E=1/2(F²/k)
2.Write the energy equation for spring, rotational damper, and moment of inertia.
The stored energy in rotary system,
Energy in rotary system: The stored energy in rotary system:
For torsional spring: E=1/2(F²/k)
Energy stored in mass rotating is : E=1/2(I. ω²)
The power dissipated by rotary damper when rotating with angular velocity ω is: P=c.ω²
3.What are controllers?
A controller is basically a unit present in a control system that generates control signals
to reduce the deviation of the actual value from the desired value to almost zero or
lowest possible value. It is responsible for the control action of the system so as to get
accurate output.
4.What are the main component parts of a PID?
A PID controller consists of three components: the proportional term, the integral term, and
the derivative term. The proportional term responds proportionally to the current error, the
integral term accumulates past errors, and the derivative term predicts future errors based on
the current rate of change.
5.List various types of PLC programming devices.
Types of PLC programming devices:
Ladder logic Devices
Structured text Fixed plc or compact plc
Sequential function chart Ladder Editor
Function block diagram Modular PLC
Instruction list (il) Omron PLC
ABB PLC Plc programming language
Instruction list specifications
Control relays, CPU Power Supply
6.What are the different types of control modes?
The different types of control modes:
Proportional control AUT
Proportional derivative controller Combination controllers
Controller Derivative control
Integral control Process control
Manual control Proportionality
Closed loop control system Analog or continuous system
Feedback control Digital control systems
PID Linear control systems
Adaptive control Conclusion
Cascade control Root locus proportional controller time
Feedforward control system response
Open loop SISO and MIMO control systems
7.What is continuous process?
A continuous process is a system that produces a product without interruption by
continuously moving raw materials through processing equipment.
The process involves the continuous flow of materials, energy, or fluids through the system,
typically operating 24/7, to produce goods or perform a function. The key characteristic of a
continuous process is that the input is constantly supplied, and the output is constantly
produced, often in large volumes or at a steady rate.
8.What is energy stored in masses of a building block?
Energy stored in the mass when its moving with a velocity v, its called kinetic energy, and
released when it stops moving: E=mv^2(1/2).
9.Write the voltage and current equation for resistor, capacitor, and inductor?
the voltage and current equation for resistor, capacitor, and inductor:
Applied voltage v(t) and Current i(t),

Where,
v(t) is the voltage across the resistor, capacitor, and inductor at time t.
i(t) is the current through the resistor, capacitor, and inductor at time t.
R is the resistance in ohms (Ω).
C is the capacitance in farads (F).
L is the inductance in Henries (H).
10. What is dashpot of a building block?
Dashpots: dashpots are the forces opposing motion, i.e. friction or damping. this building
block can be considered to have a force as an input and a displacement as an output.

Dashpot of a building block: Dashpots represent the forces opposing motion, for
example frictional or damping effects. A dashpot is a mechanical component that
absorbs and dissipates energy to reduce vibration, velocity, and oscillation in a
system. It's often used with a spring to control the dynamics of a mechanical system.
 Long Question
1.Briefly explain the rotational system of a building block.
A rotational system in the context of a building block typically refers to the ability of the block
or its components to rotate or pivot around a central axis. This allows for flexible movement
or positioning, making the system adaptable to various configurations or orientations.
Basic Blocks or Rotational System : For rotational system, the equivalent three building blocks are:
a Torsion spring, a rotary damper, and the moment of inertia
With such building blocks, the inputs are torque and the outputs angle rotated With a
torsional spring T=k.θ
With a rotary damper a disc is rotated in a fluid and the resistive torque T is: T=c.dθ/dt=c.ω
The moment of inertia has the property that the greater the moment of inertia I, the greater
the torque needed to produce an angular acceleration T=I.d²θ/dt² = I.dω/dt
Energy in rotary system: The stored energy in rotary system:
For torsional spring: E=1/2(T²/k)
Energy stored in mass rotating is : E=1/2(I.ω²)
The power dissipated by rotary damper when rotating with angular velocity ω is: P=c.ω²

2.Explain the different types of classification of controllers.

Different Types of Controllers:
Controller Type Action Common Usage
P (Proportional) Corrects based on error Simple systems, heating
Systems needing steady-state
PI (Proportional- Corrects based on error +
accuracy (e.g., motor speed
Integral) accumulation of past errors
control)
PD (Proportional- Corrects based on error + Systems with fast dynamics or
Derivative) rate of error change needing less overshoot
PID (Proportional- Most industrial systems, HVAC,
Combines P, I, and D actions
Integral-Derivative) robotics
Simple binary control (full on
On/Off Controller Thermostats, simple processes
or full off)
Model Predictive Optimizes control actions Complex, multivariable systems,
Control (MPC) using a model of the system chemical plants
Uses rules based on human
Fuzzy Logic Controller Nonlinear systems, robotics
reasoning
3.Explain thermal resistance and thermal capacitance of a building block.
4.Briefly explain the velocity control, adaptive control.
Velocity control: refers to the method of regulating the speed of a robot's
movement or the speed at which a mechanical system operates. It ensures that
the desired velocity is achieved and maintained by adjusting the inputs to
actuators based on feedback from sensors, allowing for precise and responsive
motion in robotic applications.
Adaptive control: is the control method used by a controller which must adapt
to a controlled system with parameters which vary, or are initially uncertain. For
example, as an aircraft flies, its mass will slowly decrease as a result of fuel
consumption; a control law is needed that adapts itself to such changing
conditions. Adaptive control is different from robust control in that it does not
need a priori information about the bounds on these uncertain or time-varying
parameters; robust control guarantees that if the changes are within given
bounds the control law need not be changed, while adaptive control is
concerned with control law changing itself.
5.Explain building up a model for a fluid system.
6.What are the characteristics of PID controller?
A Proportional-Integral-Derivative (PID) controller has several characteristics, including:
Control terms: A PID controller uses three control terms to influence the controller output:
proportional, integral, and derivative.
Error calculation: The controller calculates the error value as the difference between the
desired setpoint and the measured process variable.
Correction: The controller applies a correction based on the three control terms to minimize
the error over time.
Feedback loop: The controller has a continual feedback loop that allows it to monitor and
modulate for accuracy.
Robust performance: The controller has robust performance and a simple structure that
makes it suitable for a wide range of operating conditions.
Rapid transient response: The controller provides a rapid transient response and eliminates
the steady-state error. Inexpensive: The controller is a practical and inexpensive solution to
most processes that can be approximated by low-order dynamics.
7.Drive an expression for the pneumatic capacitance of a system.
Pneumatic Fluid system Building Blocks: Pneumatic capacitance C: is due to compressibility of
the gas in some volume Rate of change of mass inside the container is:
8.Describe briefly the hydraulic capacitance of a system.
Fluid Capacitance: Describes any physical element with the
characteristic that the rate of change in pressure, p, in the element is
proportional to the difference between the input flow rate, qin , and
the output flow rate, qout.

Hydraulic cylinder chambers, tanks, and accumulators are examples of

fluid capacitors.
Ex: Consider an open tank with a constant cross-sectional area, A:

It describe the energy storage with a liquid in the form of potential

energy.
9.Drive the equation for building up a translational mechanical system.
10.Explain the electrical system building block.