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MSD
Mechatronics System
Design Approach/Stages
The Systems Engineering Process
• Systems engineering is a multidisciplinary
approach to develop balanced system
ht d l b l d t
solutions in response to diverse stakeholder
needs.
• Systems engineering includes the application
of both management and technical processes
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to achieve this balance and mitigate risks that
can impact the success of the project.
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The Systems Engineering Process
• The management process is applied to ensure that
development cost schedule and technical
development cost, schedule, and technical
performance objectives are met. Typical
management activities include planning the
technical effort, monitoring technical performance,
managing risk, and controlling the system technical
baseline.
• The technical processes are applied to specify,
design, and verify the system to be built
The Systems Engineering Process
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Mechatronics System Design
Approach/Stages
1‐ Stakeholder needs and system requirements
analysis
• Identify the stakeholders and analyze their needs.
• Analysis is performed to understand the needs of
each stakeholder and define effectiveness measures
with target values
with target values.
• In automobile, for example, the effectiveness
measures may relate to aesthetics, performance, fuel
economy, safety, reliability, repair time, and
production cost.
Mechatronics System Design
Approach/Stages
• The system requirements are specified to address
stakeholder needs and associated effectiveness
t k h ld d d i t d ff ti
measures. This begins with a definition of the
system boundary so that clear interfaces can be
established between the system and external
systems and users.
• System requirements
– Functional.
– Performance.
– Physical requirements/characteristics.
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Mechatronics System Design
Approach/Stages
• In the next figure, the driver and passengers are
external users who interact with the automobile.
t l h i t t ith th t bil
The gas pump and maintenance equipment are
examples of external systems that the vehicle
interacts with. In addition, the vehicle interacts
with the physical environment such as the road.
Mechatronics System Design
Approach/Stages
• All
All of these external systems, users, and the
f th t l t d th
physical environment must be specified to
clearly demarcate the system boundary and
its associated interfaces.
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Mechatronics System Design
Approach/Stages
• The functional requirements for the system are
specified by analyzing what the system must do
ifi d b l i h t th t td
to support its overall goals.
• For example, the automobile must perform
functions related to accelerating, braking, and
steering, and many additional functions to
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address driver and passenger needs.
• The functional analysis identifies the inputs and
outputs for each function.
Mechatronics System Design
Approach/Stages
• For example, the functional requirement to
accelerate the automobile requires an
acceleration input from the driver and
produces outputs that correspond to the
automobile forces and the speedometer
reading for the driver.
di f th d i
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Mechatronics System Design
Approach/Stages
• Functional requirements must also be evaluated to
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determine the required level of performance. For
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example, the automobile is required to accelerate
from 0 to 60 miles per hour (mph) in less than 8
seconds under specified conditions.
• Similar performance requirements can be specified
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for stopping distance from 60 to 0 mph and for
steering requirements such as the turning radius.
Mechatronics System Design
Approach/Stages
• Additional requirements are specified to address
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the concerns of each stakeholder. Example
f h t k h ld E l
requirements include specifying riding comfort,
fuel efficiency, reliability, maintainability, safety,
and emissions.
• Physical characteristics, such as maximum vehicle
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weight, may be derived from the performance
requirements, or maximum vehicle length may be
dictated by other concerns such as standard
parking space dimensions.
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Mechatronics System Design
Approach/Stages
• Overall, the system requirements must be
clearly traceable to stakeholder needs and
validated to ensure that the requirements
address their needs. The early and ongoing
involvement of representative stakeholders
i thi
in this process is a critical success factor to
i iti l f t t
the overall development effort.
Mechatronics System Design
Approach/Stages
2‐ Conceptual design (Synthesis, analysis, and
optimization).
• The conceptual design involves identifying system
components and specifying requirements for the
components needed to satisfy system‐level
requirements This may involve first developing a
requirements. This may involve first developing a
logical system design independent of the
technology used, and then a physical system design
that reflects specific technology selections.
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Mechatronics System Design
Approach/Stages
Mechatronics System Design
Approach/Stages
• For automobile example, the system’s physical components include
the Engine, Transmission, Differential, Body, Brakes, and so on. This
the Engine, Transmission, Differential, Body, Brakes, and so on. This
system includes a single level of decomposition from the system to
component level. However, as indicated earlier, more complex
systems may include multiple levels of system decomposition.
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Mechatronics System Design
Approach/Stages
• The components are specified such that if their
requirements are satisfied the system requirements are
requirements are satisfied, the system requirements are
also satisfied. The power subsystem shown in the Figure
includes the Engine, Transmission, and Differential
components, and must provide the power to accelerate
the automobile. Similarly, the steering subsystem must
control the direction of the vehicle, and the braking
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subsystem must decelerate the vehicle.
Mechatronics System Design
Approach/Stages
• The system performance and physical
requirements are allocated to the component
i t ll t d t th t
requirements.
• This involves engineering analysis to determine
how the system performance requirements, such
as the vehicle acceleration, must be allocated to
,
the component performance requirements such
as engine horsepower, coefficient of drag of the
body, and the weight of each component.
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Mechatronics System Design
Approach/Stages
• Similar
Similar analysis must be performed to allocate
analysis must be performed to allocate
the other system performance requirements
related to fuel economy, fuel emissions,
reliability, and cost.
• By the end of this stage, system block diagram
and top‐down diagram should be available.
Mechatronics System Design
Approach/Stages
3‐ Mechanical, software, electronics, and interface
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design.
• The mechanical design is crucial since it forms the
skeleton of mechatronics systems. Traditionally,
the machine system design involves the design of
all mechanical aspects in full detail to meet the
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machine system requirement specifications.
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Mechatronics System Design
Approach/Stages
• The design can be supported by CAD/CAE tools
which are widely available in industry.
hi h id l il bl i i d t
• If optimal mechanical design is achieved, the
designer should move to select the actuators,
controller, and sensors that can meet the demand
specifications.
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• This should then followed by selecting drive and
conditioning circuits in order to interface the
system components.
Mechatronics System Design
Approach/Stages
4‐ Modelling and simulation
• Both mechanical engineering components and
electronic engineering components should be
included in a mixed system model of the plant. If
the prototype plant (or even a scaled physical
model) is available, then an experimental model
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could be developed by testing and analyzing the
test data (i.e. by model identification).
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Mechatronics System Design
Approach/Stages
• The model should be simulated to check
whether the given design specifications are
h th th i d i ifi ti
satisfied. If the specifications are satisfied, it
could be built according to the model and
tested to verify its performance.
• If the plant does not satisfy the design
If h l d if h d i
specifications, at this stage we should check
to see whether some modifications to the
plant could yield the required results.
Mechatronics System Design
Approach/Stages
• These may include structural modifications (e.g.,
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fixtures, couplings, transmissions) and
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replacement of existing actuators (e.g., actuators
of different type or capacity) and associated
hardware (e.g., power supplies, amplifiers, and
drive circuitry).
• If the plant cannot meet the design specifications
even with direct modifications, the next step
would be to plan a new control structure for the
mechatronics system.
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Mechatronics System Design
Approach/Stages
5‐ Control strategy and controller design.
• The controllers should be kept very simple. For
example, simple constant‐gain feedback control
might be attempted at first. Then, the resulting
structure should be analyzed to see whether it
could satisfy the design specifications. This will
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involve the selection of parameters (e.g.,
calibration constants, gains, time constants,
impedances, signal levels, and transmission ratios)
to meet the design specifications.
Mechatronics System Design
Approach/Stages
• If the design specifications are still not met, simple
modifications to the control components and algorithms
modifications to the control components and algorithms
should be attempted. This may include the introduction of
simple compensators (e.g., lead/lag compensators) and
moderate improvements to the control method (e.g., PID
control, pole placement, linear quadratic regulator‐LQR). If
further improvements are needed to satisfy the
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performance requirements, more sophisticated control
techniques and algorithms should be implemented
(feedforward, cascaded, steady state optimized, and
adaptive control techniques).
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Mechatronics System Design
Approach/Stages
6‐ Prototyping, testing, and optimization
• Prototype development may be carried out in two stages.
Prototype development may be carried out in two stages
First a research prototype may be developed in laboratory,
for the proof of concept (pilot/feasibility study). For this
prototype it is not necessary to adhere strictly to industry
standards and specifications.
• Through the experience gained in this manner a practical
prototype should be developed next, in close collaboration
with industrial users. Actual operating conditions and
performance specifications should be carefully taken into
account for this prototype. Industry‐standard components
and tools should be used whenever possible.
Mechatronics System Design
Approach/Stages
• Testing of the practical prototype should be done
under normal operating conditions and preferably
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at an actual industrial site.
• Once the developed system is tested, refined, and
confirmed to satisfy the required performance
specifications, the processes of technology
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transfer to industry, and commercialization could
begin
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Engineering Principles
• Read from the document
Motion
Control
System
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