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) my 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
Rs 1 G s H s
Y s G s
Closed loop TF
Rs 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
