At the end of this project, the student is able to
- Design a precision mechatronic system from performance specifications by integral design of the nominal and parasitic dynamics of the single degree-of-freedom mechanical subsystem and the PID-like controller.
- Design and execute a measurement procedure to obtain the steady-state and frequency response of a mechanical system.
- Implement and tune a digital PID-like controller for a mechatronic system from a measured frequency response and the specified performance and stability margins.
- Evaluate the performance of a precision mechatronic system by designing and executing effective experiments and by verification of the performance specifications from the experimental results.
- Reflect based on his/her own strong and weak points in the role of a mechanical engineering student as well as future professional and to translate the reflection into clear action points.
This is a part of module 8, ME 8 Mechatronic Design of the Bachelor Mechanical Engineering.. See here for the compete description of the module.
Many contemporary mechanical motion systems have electromechanical actuation, motion sensors and embedded control systems to enhance their functionality. Such mechatronic systems are essential for robotics, smart devices and the precision mechanisms of the (Dutch) high-tech industry. This project considers the design of such mechatronic system through a full design cycle.
The project starts with creating a conceptual design of the mechatronic system to meet the given performance requirements. The design integrally considers the dynamics of the (single-degree-of-freedom) mechanical subsystem and the control system. In a subsequent design step the design is further detailed including consideration of stability robustness against parasitic effects like actuator dynamcis, high-frequency dynamics and controller delay. After detailing the design, it is actually realized by the students from a mechatronic building kit that provides control electronics, an actuator, a sensor and modular mechanics, supplemented by custom designed components. The static and dynamic performance of the system are verified against the design specifications. After implementation and retuning of the controller, the mechatronics system is tested against the performance specifications. These results provide the input for the final evaluation of the design.
In the academic skills part of the project, the students reflect on their own strong and weak points to prepare for their future.
Assumed previous knowledge:
Before taking this module, the student should know about
This knowledge can be gained through Mechanics of Materials (202000122) and Dynamics Systems in Module 5 (202000126) (with courses Dynamics 1 (202000127), System Analysis (202000128) and Proj. Precision Mechanisms& Ac. Skills 5 (20200129)).
- Mechanics of materials (stress, strain, stiffness, strength, moment of inertia, bending, torsion, shear)
- Dynamic analysis of mechanical system (kinematics, free-body-diagram, equations of motion, work and energy, vibrations)
- Dynamic models (differential equations, state-space equations, transfer functions, block diagrams)
- Signal analysis (Fourier transform, Laplace transform)
- Dynamic analysis (step response, impulse response, bode plot, ordinary differential equations)
- Electric systems (passive elements and transformers, sources) and electromechanical systems (electro-motors)
- Design of precision mechanisms (degrees-of-freed-om, elasticity of flexures, flexure design)
Besides the entry requirements, you should take the other courses in the Module 8, being System and Control Engineering (202000144) and Dynamics 2 (202000144) , or have their contents as prior knowledge.
This course can only be taken by ME students.