Block Diagram Representation

 Open and Closed loop control system,

 Identification of key elements of mechatronics systems and

represent into block diagram (Electro-Mechanical Systems),

 Concept of transfer function,

 Block diagram reduction principles,

 Applications of mechatronics systems:- Household, Automotive,

Shop floor, Industrial.

 Objectives

1. Understand key elements of Mechatronics system,

representation into block diagram
2. Understand concept of transfer function, reduction and analysis
3. Understand principles of sensors, its characteristics, interfacing
with DAQ microcontroller
4. Understand the concept of PLC system and its ladder
programming, and significance of PLC systems in industrial
application
5. Understand the system modeling and analysis in time domain
and frequency domain.
6. Understand control actions such as Proportional, derivative and
integral and study its significance in industrial applications.
 Outcomes

1. Identification of key elements of mechatronics system and its

representation in terms of block diagram
2. Understanding the concept of signal processing and use of
interfacing systems such as ADC, DAC, digital I/O
3. Interfacing of Sensors, Actuators using appropriate DAQ
micro-controller
4. Time and Frequency domain analysis of system model (for
control application)
5. PID control implementation on real time systems
6. Development of PLC ladder programming and implementation
of real life system
 Control

A Control system performs following functions

• For particular input the system output can be controlled to a desired

particular value.

• If some conditions are satisfied it can give a particular sequence of events

as output corresponding to given input

Actual Response
Desired Response
 Open Loop Control

• Output is dependent on input but controlling action is totally

independent of the changes in output, is an Open Loop Control
System.

• No feedback is used, so the controller must independently determine

what signal to send to the actuator.

Control
u
Input Plant Output
Law

Plant = Mathematical model of Input Amplifier + Actuator + Physical System

Input = Reference / Desired Input or Set Point Input

Output = Measured Output

Control Law = Mathematical model of the Controller

Examples of Open Loop Control
Advantages and Dis-advantages of Open Loop
Control
Advantages:
 Simple in construction
 Low cost
 Convenient to implement when output is difficult to measure

Disadvantages:
 The controller never actually knows if the actuator did what it
was supposed to do, i.e. it is inaccurate
 Unable to sense the environmental changes or disturbances
 Closed Loop Control
• Controlling action is dependent on the changes in output

+ e Control
u
Input ∑ Plant Output
Law

e = Error = Input – Output

u = Control Input
Examples of Closed Loop Control
Examples of Automatic Closed Loop Control
Advantages and Dis-advantages of Closed Loop Control

Advantages:
 Accurate, since the controller modifies and manipulates the
actuating signal such that the error in the system will be zero.
 Self-correcting
 Senses the environmental changes, and disturbances in the
system.

Disadvantages:
 Complicated to design
 Costly
 Instable, since due to feedback , system tries to correct the error.
Key Elements in Mechatronic System
Key Elements in Mechatronic System: Example of Electro-
Mechanical System
 Response of System

0 5 10 15 20 25 30 35 40 45 50
time (sec)

0 5 10 15 20 25 30 35 40 45 50
time (sec)

0 5 10 15 20 25 30 35 40 45 50
time (sec)

0 5 10 15 20 25 30 35 40 45 50
time (sec)

0 5 10 15 20 25 30 35 40 45 50
time (sec)
 Transfer Function Models

Why TF?
Because it is easier / better to assess some
things using classical techniques, such as
gain and phase margin.
How to determine TF?
Derive the Governing Differential Equation
Assume I.C=Zero and
Take Laplace transform of output
Take Laplace transform of input
Transfer function = L (output) / L (input)
Translational Mechanical Example 1

F
m ass/spring/dam
M system
y
k d

F
1/m 1/s 1/s
Translational Mechanical Example 1

Equation of motion (EOM)  my  dy  ky  f

Assuming I.C 0 and taking Laplace of both sides

ms 2 y s  dsy s  ky s   f s 

Output y s  1
T.F    2
Input f s  ms  ds  k
 Block Diagram

• Block diagram is a
F
m ass/spring/dam per
diagram of a system in M system
y
which the principal parts k d

or functions are
F y
1/m 1/s 1/s
represented by blocks velocity
d
connected by lines that k displacem ent

show the relationships of

 Block Diagram

 Subsystem is represented as a
 Comparator
block with an input, an output,
 Input/Reference/Output/ and a transfer function

Disturbance / Feedback Signal

 When multiple subsystems are
 Blocks to represent: interconnected, a few more
schematic elements must be
Sensor, Actuator, Plant, added to the block diagram
Controller, Amplifier etc (in
 These new elements are
symbolic form / transfer
summing junctions and pickoff
function form) points.
Block Diagram: Domain & Comparator
Block Diagram: Series & Parallel
 Block Diagram: Feedback

Y s  G s 
Closed loop TF  
Rs  1  G s H s 

Y s  G s 
Closed loop TF  
Rs  1  G s H s 
 Reduction techniques

1. Combining blocks in cascade or in parallel

G1 G2 G1G2

G1
G1  G2
G2

2. Moving a summing point behind a block

G G
G
3. Moving a summing point ahead of a block

G G
1
G

4. Moving a pickoff point behind a block

G G
1
G

5. Moving a pickoff point ahead of a block

G G
G
6. Eliminating a feedback loop

G
G
1 GH
H

G
G
1 G

H 1

7. Swap with two neighboring summing points

A B B A
Moving Blocks to Create Familiar Forms
Moving Blocks to Create Familiar Forms
Example 1
Example 1
Example 2
Example 2
Example 3
Example 3
Example 4
Example 5
Example 5
Example 5
 Applications of Mechatronic System

• Household
• Refrigerator
• Washing m/c
• Microwave
• Automotive
• Fuel injection system
• Power steering
• Air conditioner
• Shop floor
• Tool monitoring system
• Automated guided vehicle
• Conveyor system
• Bottle filing plant.
Fuel Injection
Electric Power Steering