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MECHATRONICS SYSTEMS /

MECHATRONIC SYSTEMS

Jadranko Matuško

Fetah Kolonić

DESIGN OF MECHATRONIC SYSTEMS

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October ,

Matuško&Kolonić of

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MECHATRONIC DESIGN

Design is considered to be the process of the develop-ment of a system or a product, starting from the basic

idea to the nal product, satisfying in the same time all

the design constraints.


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HISTORICAL DEVELOPMENT OF PRODUCT DESIGN


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PRODUCT DESIGN

The product design process is primarily inuenced by the

following factors: rapid technology development/changes,

market competition.

For that reason good engineers need:

permanent/lifelong learning, experience in multidisciplinary projects,

excellent design and project management skills, used by

leading companies on the market.

Good designers should always use proven design processes: with clear justication in terms of selection of the

components.

with suitable recommendations with respect to the source

material.Matuško&Kolonić of

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PROPERTIES OF A WELL-DESIGNED PRODUCT

Five properties are used to evaluate the performances of the

design process:

Quality of the product: How good is the product obtained

as a result of the design eff ort? Production costs: What is the cost of the production of

one unit of the designed product? Product development duration: How fast a development

team can conduct the development tasks? Development costs: How much money a company need

to invest into product development? Development possibilities: To what extent the acquired

knowledge through the design process can be used for

future product development projects


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FUNCTIONS OF MECHATRONIC SYSTEMS

Distribution of mechanical and electronic functions

Decentralized electrical drives microcomputer based

control.

light constructions: electronic damping (multi-car systems,

elastic robot systems, etc.).

Linearization of nonlinear mechanism characteristics using

feedback loop (hydraulic and pneumatic actuators, valves,

etc)

Operator adaptation using programable characteristics

(acceleration pedal, manipulators, etc).


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Operating properties - Process of system behavior adaptation

using feedback control systems. Incresed accuracy due to feedback control systems,

Adaptive friction compensation.

Model based and adaptive control: allows for wide range

of operations (force control, speed control, control of vehicles).

High control performances due to ability to drive the

system very close to the constraints (system and

operational ones).



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New functions - these functions would’t be possible withoutusing embedded computers.

Control of non-measurable or hard-to-measure variables

(wheel slip, internal stress or temperature, damping

parameters, vehicle slip angle, etc )

Advanced supervision and fault diagnosis.

Fault tolerant systems with hardware or analytical

redundancy.

Remote services for supervision, service etc.

Flexible adaptation for changing the boundary conditions.

Programmable functions that allow changes during the

design process as well as upon nishing the product.



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INTEGRATION IN MECHATRONIC SYSTEMS

Hardware integration

Integration of the components (Hardware integration)

results from designing the mechatronic system as an

overall system and embedding the sensors, actuators and

microcomputers into the mechanical process. Spatial integration is determined by a process, sensors and

actuators.

The integration of microcomputers and sensors leads to

the concept of intelligent(smart) sensors. Similarly byintegration of microcomputers and actuators we obtain a

so-called intelligent(smart) actuators.



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INTEGRATION IN MECHATRONIC SYSTEMS

Software integration

Beside standard feedforward and/or feedback controladditional signal processing is perform in knowledge based

systems. On-line signal processing is used in supervision, fault

diagnosis and optimization tasks. Knowledge base level processes: advanced signal

processing, controller design methods, process modeling,

objective function denition. These processes allows for the incorporation of the

knowledge into electronic and mechanical components.



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INTEGRTION IN MECHATRONIC SYSTEMS

SENSORSMICRO

COMPUTERACTUATORS PROCESS

INTEGRATION OF COMPONENTS

ControlSupervision

Diagnosis

Adaptation

Optimization

ONLINE INFORMATION PROCESSING

Design methods

- control

- supervision

- optimization

Information gaining

- identication

- state observer

Performance

criteria

Mathematical

process models

KNOWLEDGE BASE



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TRADITIONAL DESIGN APPROACH

Design steps are performed

sequentially;

The optimality of individual

design steps doesn’t imply the

optimality of the nal product orsystem.

If the nal product is not

satisfactory the whole design

process is repeated.

Time and nancially consuming

process;

Mechanical design

Electronic design

Control system

design

Specications

met?

Specications

NO

YES



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MECHATRONIC APPROACH TO THE DESIGN

The main idea of the mechatronic design approach is to

perform the validation of the product that is being

designed in early phases of the development process. Usually in early stages a simplied object is designed, that

take into account only its major properties and design the

control system for such an object. Gradually we increase the complexity and accuracy of the

model, resulting in more detailed description of individual

system components.



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C CS S S S

BOTTOM-UP DESIGN APPROACH

Time

Specification

Submodule 1

Module 1

System?

A b s t r a c t i o

n



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BOTTOM-TO-UP DESIGN APPROACH

Bottom-up design is the classic method of development of

electronics and mechanics. The initial starting point is a specication, which is typically

drawn up in natural language. Then the basic components, e.g. transistors, resistors,

capacitors or springs, masses, shock absorbers, joints, etc.are added and combined successively to form ever more

complex and abstract creations until a complete design

emerges. The primary advantage of bottom-up design is that the

inuences of a nonideal implementation can be taken intoaccount at an early stage.

The biggest disadvantage is that errors and weaknesses in

the system design are not noticed until a late stage, which

can bring about considerable costs and delays



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TOP-DOWN DESIGN APPROACH

Time

Specification System

Submodule 1

Module 1

A b s t r a c t i o n



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TOP-DOWN DESIGN

Errors and weaknesses in the system design are noticed

early, in contrast to the bottom- up approach.

The implementable part of the specication can be

validated by simulations.

The implementable part of the specication is available as

a precisely dened reference for the verication of thedesign.

The functional part of the specication is unambiguous

and complete (in contrast to a specication in natural

language). In the event of doubt, a simulation is run. The implementable specication and the models of the

individual design stages mean that full documentation is

available, which however still remains to be supplemented

by comprehensive commentary.



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V SCHEME OF MECHATRONIC DESIGN



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TESTING OF A MECHATRONIC DESIGN

Verication gives the answer to the following question:

"Is the product built properly?" We need to check if the

product satises the specications.

Validation gives the answer to the following question: "Is

a proper product built?" We need to check if the product

works according the user’s needs/expectations.

The main goals of validation and verication:

Discovering the systems defects. Assessment the system usability within the range of

operation.

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