m =

G(s)
i + m*Ms)
Xis). (1.3)


m
fi
gure 1.5 Block diagram of dosed-loop
system with transfer function in feedback
loop.
Sometimes a transfer function, //(*), is
included in the leedhack loop (Figure 1.5).
For negative feedback this is expressed as:
1.2.2.3 Forward-loop system
A forward-loop system (Figure 1.6) is a part
of a controlled system As the name suggests,
it is the system in the forward' part of the
block diagram shown in Figuie 1.4.
Typically, the forward-loop includes the
uncontrolled system cascaded with the
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X(s)
controller. Closing the loop around this
controller and system using unity feedback
gain yields the closed-loop system. For a
system w ith controller GJs) and system
Cr
u
(.v). the transfer function of the
forward-loop is:
Y(s) = Gc(s)GMX(s).
(1.
4)
1.2.2.4 Open-loop system
An open-loop system is a system with no
feedback: it is an uncontrolled system. In an
open-loop system, then? is no 'control loop'
connecting the output of the system to its
input. The block diagram (Figure 1.7) can he
represented as:
Y(s) = G{s)X(s).
(1.
5)
Figure 1.6 I*inward-loop purl of Figure 1.4.
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X(s) 0{ s) Y{s)

Figure 1.8 Measurement system.
Figure 1.7 BkK-k liujfr.mi Of open-loop
1.2.3 Sensors and actuators
12.3.1 Sensors
Sensors arc elements for monitoring the
performance of machines and processes.
The common classification of sensors is:
distance, movement, proximity, stress/
strain; force, and temperature. There arc
many commercially available sensors but
we have picked the ones that are frequently
used in mcchatronic applications. Often, the
conditioned signal output from a sensor is
transformed into a digital form for display
on a computer or other display units. The
apparatus for manipulating the sensor output
into a digital form for display is referred to
as a measuring instrument (see Figure 1.8
for a typical computer-based measuring
system).
1


1 2 3 2 Electrical actuators
While a sensor is a device that can convert
mechanical energy to electrical energy, an
electrical actuator, on the other hand, is a
device that can convert electrical energy to
mechanical energy. All actuators are
transducers (as they convert one form of
energy into another form). Some sensors are
transducers (c.g. mechanical actuators), but
not all. Actuators arc used to produce
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1.2.3.3 Mechanical actuators
Mechanical actuator; arc transducers that
convert mechanical energy into electrical
energy. Some of the important mechanical
actuators used in mechatronic systems
include hydraulic cylinders and pneumatic
cylinders.

motion or action, such as linear motion or
angular motions. Some of the important
electrical actuators used in mcchatronic
systems include solenoids, relays, electric
motors (stepper, permanent magnet, etc.).
These actuators are instrumental in moving
physical objects in mcchatronic systems.
1.2.4 Information technology
1.2.4 1 Communication
Signals to and from a computer and its
peripheral devices arc often communicated
through the computer's serial and parallel
ports. The parallel port is capable of Sending
(12 hits per clock cycle) and receiving data
(up to 9 hits per clock cycle). The port
consists of four control lines, five status
lines, and eight data lines. Parallel port
protocols were recently standardized under
the IEEE 1284 standard. These new
products define five modes of operation
such as:
Compatibility mode
Nibble mode
Byte mode
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EPP mode (enhanced parallel port)
ECP mode (extended capabilities mode)
This is the concept on which the PC printer
operates. Therefore, the code required to
control this port is similar to that which
makes a printer operate. The parallel port
has two diffcicnt modes of operation: The
standard parallel port (SPP) mode and the
enhanced parallel port (EPP) mode. The
SPP mode is capable of sending and
receiving data However, it is limited to only
eight data lines.
The EPP mode piovides 16 lines with a
typical transfer rate in the order of 500kBs
1

to 2MBs"
1
(WARP). This is achieved by
hardware handshaking and strobing of the
data, whereas, in the SPP mode, this is
software controlled.
In order to perform a valid exchange of
data using EPP. the EPP handshake protocol
must be followed. As the hardware docs all
the work required, the handshake only needs
to work for the hardware. Standard data read
and write cycles have to he followed while
doing this.
Engineers designing new drivers and
devices arc able to use the standard parallel
port. For instance. EPP has its first three
software registers as Base4-0. Base 4-1.
Base 4-2 as indicated in fable 1.1 EPP and
ECP require additional hardware to handle
the faster speeds, while Compatibility. Byte,
and Nibble mode use the hardware available
on SPP.
Compatibility modes send data in the
forward direction at a rale of J0-IS0kb$\
i.e. only in data transmission. In order to
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receive the data the