ECE5320 Mechatronics - Course Syllabus - Utah State University

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Created on 1/3/2005.
L
ast modified by Dr YangQuan Chen on 01/0
7
/200
8

1

Course Syllabus


Utah State University

Electrical and Computer Engineering
ECE5
3
2
0
Mechatronics

Spring 200
8

Offering




Course Description:

ECE5320

Mechatronics (4 cr).

Principles, modeling, interfacing and signal conditioning
of motion sensors and actua
tors; hardware
-
in
-
the
-
loop simulation and rapid prototyping of
real
-
time closed
-
loop computer control of electromechanical systems; modeling, analysis
and identification of discrete
-
time or samples
-
data dynamic systems; commonly used
digital controller des
ign methods; introduction to nonlinear effects and their compensati
on
in mecha
tronic systems. Three lectures, one lab. Prerequisite: ECE
5
310. (4 cr) (Sp)



Instructor
:

Dr YangQuan Chen,
Center for Self
-
Organizing and Intelligent Systems (CSOIS)




Department of Electrical and Computer Engineering,

Utah State University




Room: EL216
, T: (435) 797
-
0148,
F: (435)797
-
3054;
E:
yqchen@ece.usu.edu



W
:
http://www.csois.usu.edu/people/yqchen


Office Hours
:

MW
1:0
0

PM to
2
:00 PM or by appointment.


Lecture
Hours:


First Day of Class:


Jan.

8
, 200
8
.
Tue.
Engr 202
.
10
:30
-
11
:45
AM.

Course Schedule:


Tu|Th

10:30
-
11:45
AM.

Lab
/Lab Orientation/Lecture
:



EL
112, Controls Lab.

Every week MW
F 2

:30
-
5

:20PM.



Engr 202

(even week or by email

notice
, Fri.
10:30
-
11:45
AM
)


Prerequisite
s
:


ECE
5
310/MAE 5310. Control Systems I

(or Instructor’s approval)
, for all.



Course Web:

http://mechatronics.ece.usu.edu/ece5320/



Textbook
:


I suggest the 2
nd

edition of [1] as a formal reference text for this course.



Mainly, two free handbooks
, downloadable from
http://
mechatronics.ece.usu.edu/

[1].

Robert H. Bishop. Editor
-
in
-
chief. “
The Mechatronics Handbook
”, CRC Press, with ISA

The
Instrumentation, Systems,
Automation Society (50 Chapters), 2002. ISBN:
0
-
8493
-
0066
-
5
. PDF
files online available at
www.engnetbase.com


Section One


Overview of Mechatronics

1. What is Mechatronics?

2. Mechatronic Design Approach

3. System Interfacing, Instrumentation and Control Systems

4. Microprocessor
-
Based Controllers and Microelectronics

5. An
Introduction to Micro
-

and Nanotechnology

6. Mechatronics: New Directions in Nano
-
, Micro
-
, and Mini
-
Scale Electromechanical Systems

Design, and Engineering Curriculum Development

Section Two


Physical System Modeling

7. Modeling Electromechanical Systems

8. Structures and Materials

9. Modeling of Mechanical Systems for Mechatronics Applications

10. Fluid Power Systems

11. Electrical Engineering

12. Engineering Thermodynamics

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/200
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2

13. Modeling and Simulation for MEMS

14. Rotational and Translational Microelectr
omechanical Systems: MEMS Synthesis, Microfabrication,

Analysis, and Optimization

15. The Physical Basis of Analogies in Physical System Models

Section Three


Sensors and Actuators

16. Introduction to Sensors and Actuators

17. Fundamentals of Time and Fre
quency

18. Sensor and Actuator Characteristics

19. Sensors

19.1 Linear and Rotational Sensors

19.2 Acceleration Sensors

19.3 Force Measurement

19.4 Torque and Power Measurement

19.5 Flow Measurement

19.6 Temperature Measurements

19.7 Distance Measuring and

Proximity Sensors

19.8 Light Detection, Image, and Vision Systems

19.9 Integrated Micro
-
sensors

20. Actuators

20.1 Electro
-
mechanical Actuators

20.2 Electrical Machines

20.3 Piezoelectric Actuators

20.4 Hydraulic and Pneumatic Actuation Systems

20.5 MEMS:

Microtransducers Analysis, Design and Fabrication

Section Four


Systems and Controls

21. The Role of Controls in Mechatronics

22. The Role of Modeling in Mechatronics Design

23. Signals and Systems

23.1 Continuous
-

and Discrete
-
time Signals

23.2 Z Transf
orms and Digital Systems

23.3 Continuous
-

and Discrete
-
time State
-
space Models

23.4 Transfer Functions and Laplace Transforms

24. State Space Analysis and System Properties

25. Response of Dynamic Systems

26. Root Locus Method

27. Frequency Response Method
s

28. Kalman Filters as Dynamic System State Observers

29. Digital Signal Processing for Mechatronic Applications

30. Control System Design Via H2 Optimization

31. Adaptive and Nonlinear Control Design

32. Neural Networks and Fuzzy Systems

33. Advanced Con
trol of an Electrohydraulic Axis

34. Design Optimization of Mechatronic Systems

Section Five


Computers and Logic Systems

35. Introduction to Computers and Logic Systems

36. Logic Concepts and Design

37. System Interfaces

38. Communication and Computer Ne
tworks

39. Fault Analysis in Mechatronic Systems

40. Logic System Design

41. Synchronous and Asynchronous Sequential Systems

42. Architecture

43. Control with Embedded Computers and Programmable Logic Controllers

Section Six


Software and Data Acquisition

44. Introduction to Data Acquisition

45. Measurement Techniques: Sensors and Transducers

46. A/D and D/A Conversion

47. Signal Conditioning

48. Computer
-
Based Instrumentation Systems

49. Software Design and Development

50. Data Recording and Logging

[2].

John
G. Webster
. Editor
-
in
-
chief. “
Measurement, Instrumentation, and Sensors Handbook


CRC

Press. 1
999
.
0
-
8493
-
2145
-
X
. PDF files online available at
www.engnetbase.com

(101
Chapters!)


Demos:
http://mechatronics.colostate.edu/


More
References:

will be provided by the Instructor.

Check here
http://mechatronics.ece.usu.edu/

Created on 1/3/2005.
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ast modified by Dr YangQuan Chen on 01/0
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/200
8

3



Topics Covered

(subject to minor changes)
:


Overview of Mechatronics and Sample Mechatronic Systems:



Overview of Mechatronics



Sample mechatronics systems: (1) Hard
-
disk drives (HDD); (2) CSOIS ODIS

Sensors
:



Analog position measurement



Digital position measurement




Temperature sensors
.



Strain, stress
, force measurement



Accelerometers

Actuators
:



DC Motors



Stepper motors



Hydraulic motors



Piezo actuators

Interfacing:



Op amps,



S
ignal conditioning,



AD/DA,



Power Amplifiers



MATLAB serial communication



LCD modules

Hardware
-
in
-
the
-
loop experimentation and r
apid prototyping
:



MATLAB RTW



Quanser Realtime Toolbox



Embedded targets

(Quanser QIC target)

Digital Control Systems
Analysis
:





sampling process,



signal reconstruction,



linear discrete time models,



z
-
transform,



discrete transfer function,



discrete syst
em stability

Discrete
-
time System Identification



Basic concept and procedures



Least squares identification method for ARMA model



Introduction to the sufficient excitation problem, under
-

and over
-
parameterization problems

Digital Controller Design:



Approxi
mate continuous design



At
-
sample design



PID control

and relay automatic tuning
.




Repetitive control



Adaptive feedforward control



ZPETC



Disturbance observer

Misc.



PLC

and Industrial Automation



LabView

virtual instrumentation/MATLAB Instrument Toolbox/Data
Acquisition Toolbox



Mechatronics


towards the successful design.


Created on 1/3/2005.
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ast modified by Dr YangQuan Chen on 01/0
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/200
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4

Course Requirements
:



20 points


Homework
/
Literature
Reports

2
0 points


8

quizzes

(
bi
-
weekly



January,

Feb
r
u
ary, March, April
)

60

points


Lab
s
/Design project
s

No
Mid
-
Term and

No

Final
E
xam


Notes
:



Homework and readings will be
posted on the course website.
http://mechatronics.ece.usu.edu/

Students are responsible to check the course website in “real
-
time”.

In some modules, a
Survey
Repor
t on
what have

not

been learned will be required.



Students m
ust attend lectures in order not to miss the exams/quizzes
.



At least one

complete design project will be required. The project will demonstrate all aspects of the
course for a specific problem.
St
udents will be given some optional “mechatronic plants” to choose.


Computer Usage
:

Computers play an important role in the study of
mechatronic

systems. During lab
s,

students will be given
explicit instruction in the use of the Matlab/Simulink visualiza
tion and simulation environment and will be
expected to use it extensively in their homework and design assignments.


Lab
Documents
/Ma
nu
als:

There
are two

complete set
s

of binders

in EL112, Control
s

Lab,
for all the related lab
documentation/manuals.

Stude
nts can check the manuals in the Control
s

Lab but please do not remove them
from the Control Lab.
Some s
oftcopies are available at
http://mechatronics.ece.usu.edu/
ece5320
/lab
s/

Students are responsible to read all the related documents/manuals before actua
lly doing any hardware related
experiments. Specific instructions on

documentation
reading will be sent via email.


Laboratory Experience
:


All labs, except the QIC target project, must be done independently in the lab. If you have any other ideas to
do yo
ur favorite project relevant to mechatronics, you can discuss with me for a trade


that is, I can exempt
you from some of the labs.


Planned Lab Topics
:

1.

Frequency domain response measurement (Bode plot, Nyquist plot, Nicols chart

etc.
)

2.

Sensor/Actuator (i
nterfacing, calibration, frequency domain characterization, MATLAB serial
interface, serial LCD display)

3.

System Identification

of a DC Motor system

(3 lab sessions)

4.

DC Motor position tracking

(internal model principle)


5.

DC Motor position setpoint control v
ia PID controller using relay automatic tuning technique
.

Design Project
s
:

1.

Independent modeling, analysis, and design of a
mechatronic

control system (
Select
two

“mechatronic
plant
s
” from the Quanser rot
ary family
).


2.

Independent modeling, analysis, and des
ign of a
mechatronic

system

(e.g. fan
-
and
-
plate etc) using
the existing QIC target

or other special Quanser plants
.

(optional)











Specifically,

the lab
s

will follow

the following sessions

Created on 1/3/2005.
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ast modified by Dr YangQuan Chen on 01/0
7
/200
8

5


1.

Frequency domain response measurements.

2.

Sensor/Actuator (int
erfacing, calibration, frequency domain characterization, MATLAB serial
interface, serial LCD display)

3.

Modeling of DC Motor System by GP
-
6 Analog Computing

4.

System Identification of an unknown plant simulated by GP
-
6

5.

System Identification of a DC Motor sys
tem using PRBS

6.

DC Motor position tracking (internal model principle)

7.

DC Motor position setpoint control via PID controller using relay automatic tuning technique

8.

Independent modeling, analysis, and design of a
mechatronic

control system (
Select one
“mecha
tronic plant” from the Quanser rotary family
).


9.

ibid.


select a different plant from the Quanser rotary family.

10.

Using Quanser QIC target

or other special plants
, i
ndependent modeling, analysis, and design of a
mechatronic system (e.g. fan
-
and
-
plate, mobil
e robot etc)


Only this one permits team work.


Details of lab requirement
s

will be sent separately.


Hints on how to get an “A”:



Have enough

sleep the night

before lecture



Do not miss any class


But I excuse “planned miss

in advance
” of the lecture



Sub
mit homework

in time
that was done
by
yourself



Visit
http://mechatronics.ece.usu.edu/

at least 3 times a week.



Go through all materials posted on
http://mech
atronics.ece.usu.edu/

whenever possible,



Maintain a
professional, neat, well organized Lab Notebook



it strongly helps since Labs stand
60%. I will check EVERY one’s Lab Notebook before I give the final grade!



Appeal when you think you grade is under
-
gra
ded. Any supporting reason is acceptable.



Feedback by talk
ing

to me
as frequently as needed
when you have trouble in learning.

Both negative
and positive feedbacks are fine.

Created on 1/3/2005.
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/200
8

6

ECE532
0

Mechatronics
,
Spring 200
8

Notes on Controls Lab (EL112) Security

Rational
e:


Ensure that all students in ECE53
2
0 Mechatronics (200
6

Offering) can access the
Controls Lab

24 hours a day and 7 days a week”.

Safety FIRST! I do not encourage any
one to stay in the lab without Lab TA’s supervision.
Standard “at
-
your
-
own
-
risk” warni
ngs
apply.


Method:


Students apply the “
access
card
” of EL112 from Heidi
Harper
by filling up a
request form. Sign and date it. Then, request the Instructor’s (Dr. Chen) signature.

By signing the form, you agree to
follow

for all
the
related lab regulatio
ns.


Special things to note:

1.

Keep the lab door always shut at any time.

2.

Use the code
/card

to access the lab.

3.

Do not open the lab door for any one who is knocking.

4.

Do not use web browser to explore unrelated contents.

5.

Do not bring your friends in the lab wi
th you.

6.

Do not drink

o
r

eat in the lab.

7.

Log your time slot staying in the lab on the

Controls Lab Log Book

.

8.

Place back the reference manuals and Quanser plants to their original place.

9.

House keeping your bench/workstation after use.

10.

Shut down the compute
r after use. Switch off the power (right front corner under
the table)
.


Other hints:

11.

Report any abnormal phenomenon in lab equipments to Dr Chen (EL
216
, Tel 797
-
0148) or Justine
(EL 100, Tel 7970437
, next door to Controls Lab EL121
)

12.

Do not save your file
s in drive “c:”. It will be automatically purged when computer
is restarted. Only store y
our files in drive “d:” or “e:” or, USB jump drive.

13.

It is your responsibility to make file backup. You should not expect

that

the files
you saved previously will still

be there.

Bring a CD R/W blank disk for backup


every mechatronics station has a CD R/W burner.

14.

Do not do house keeping of the hard disk drive files. Always do this with your own
directory.

15.

When you do hardware wiring, please double check or ask some one

else to double
check for you, before you really apply your control signal.

16.

When you do wiring, if you are not 100% sure, do not apply signal. Check with Dr
Chen
or Lab TA
first.

17.

Do not alter any fixed wiring. Always talk to Dr Chen

or Lab TA

first.

18.

Baby s
it your control system! Do not let it run with no one supervising it.

19.

You are welcome to explore more on mechatronics labs. But, please use your spare
time
at night
and give day time to others.

20.

Visit
http://me
chatronics.ece.usu.edu/

constantly and read the relevant lab manuals
carefully. Update your own Lab Notebook frequently. It counts.


Created on 1/3/2005.
L
ast modified by Dr YangQuan Chen on 01/0
7
/200
8

7


Keep the door
of
Controls Lab

always closed !


-

The
Management