1

ME2143/ME2143E

Sensors and Actuators

Chew Chee Meng

Department of Mechanical Engineering National University of Singapore

ME2143/ME2143E Sensors & Actuators

Instructors: A/P Chew Chee Meng (chewcm@nus.edu.sg) Rm : E1-08-04 Tel:65161337 Dr Chui Chee Kong (mpecck@nus.edu.sg) Rm: E1-05-17 Tel: 65161336

Course website: available at http://IVLE.nus.edu.sg/

Grading:

Final Exams (75%) 2 Labs (20%) Online assignments (5%)

Aims & Objectives

A first course in the field of mechatronics To provide basic knowledge commonly encountered in mechatronic and measurement systems

Definition of Mechatronics
Interdisplinary field of engineering dealing with the design of products whose function relies on the synergistic integration of mechanical and electronic components coordinated by a control architecture Alciatore & Histand Synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing process Journal of Mechatronics

Syllabus First part (CCM):

1. Introduction and Review of Electrical Circuit Analysis (2hrs) Basic electrical elements. Kirchhoffs Laws. Thevenin and Norton Equivalent Circuits. 2. Analog Signal Processing Using Operational Amplifiers (5hrs) Ideal Op-amp model. Inverting and non-inverting amplifier. Summer. Integrator. Voltage follower. Differential amplifier. Practical opamp characteristics 3. Semiconductor Electronics (4hrs) Junction Diode. Zener diodes. Rectifiers. Voltage regulators. Transistors. 4. Introduction to Digital Electronics (5hrs) Boolean Algebra. Truth tables. Logic Gates. Combinational logic. Karnaugh Maps.

Syllabus (cont.) Second part (CCK):

1. DC Motors (5 hrs) Magnetic field and circuits. DC motor principle. Types of DC motors. Voltage-speed characteristics. Torque-speed characteristics. 2. Review of AC Power (2hrs) Single and Three Phase Systems. Star and delta configurations. Line and phase quantities. 3. AC Motors and Stepper Motors (3hrs) Principle of operation. Torque-speed characteristics. Induction motors. stepper motors. 4. Bridges and Their Applications (1hr) 5. Transducers (5hrs) Variable resistance elements: potentiometers, strain gauges, thermistors, RTDs. Variable reluctance elements: differential transformers, variable reluctance transducers. Capacitive transducers. Thermal couples. Piezoelectric effect.

References
Recommended Textbooks:
David G. Alciatore and Michael B. Histand. 2012. Introduction to Mechatronics and Measurement Systems. 4th Edition, McGraw-Hill. Allan R. Hambley. 2011. Electrical Engineering: Principles and Applications. 5th Edition, Pearson.

Other References:
W. Bolton. 2003. Mechatronics, Pearson Prentice Hall. Ernest O. Doebelin. 2004. Measurement Systems Application and Design, McGraw-Hill. Nitaigour Premchand Mahalik. 2003. Mechatronics: Principles, concepts and applications, McGraw-Hill. D. A. Bradley, D. Dawson, N.C.Burd and A. J. Loader. 1991. Mechatronics. Chapman & Hall. G. Rizzoni. 2003. Principles and Applications of Electrical Engineering. McGraw-Hill. Ronald J. Tocci and Neal S. Widmer. Digital Systems - Principles and Applications. Pearson. Peter H Beards. 1996. Analog and Digital Electronics. Prentice Hall. Ramon allas-Areny and John G Webster. 1991. Sensors and Signal Conditioning, John Wiley & Sons.

Motivation
Mechatronic Systems
Electrical fuel injection and antilock brake system Flight control and navigation system

Robots/ Numerical controlled (NC) machine tools http://www.rpi.edu/~craigk/

Bread machines, washing machines, etc

Motivation
Mechatronic systems Sensors
Input Signal conditioning
Amplifiers Filters A/D D/D Discrete circuits Logic circuits Microcontroller SBC PLC Analog circuits

Environment

Switches Potentiometer Photoelectric Strain gage Thermocouple Accelerometer

Control Architecture

Actuators
Electric Motors Hydraulic Pneumatics

Output Signal Conditioning

Amplifiers D/A D/D

10

Motivation
Sensors
Input Signal conditioning

Environment

Control Architecture

Actuators

Output Signal Conditioning

11

Examples of Mechatronic systems

Robotic Systems
Humanoids (RoboCup)

Rescue robots

Prosthetic Legs

Robot Manipulator

12

Examples of Mechatronic systems

Consumer and automotive products

13

Example: Mechatronic System Copy Machine

Major components:
Analog circuit for lamps, heaters, power circuits, etc. Digital circuit for digital displays, indicator lights, buttons, and switches Microprocessor coordinates all functions Optical sensors and micro-switches to detect presence of paper, and checking positions of doors and latches Encoder to track motor rotation Servo and stepper motors to load and transport paper, to turn the drum, and to index the sorter

15

Independent Learning Exercise 1:

Identify one household item that can be classified as a mechatronic system. What are the key components (which are often found in mechatronic system)?

16

Independent Learning Exercise 2:

Identify a mechatronic product which is used to be a pure mechanical system. Compare the performance and advantages of the latest version which is based on mechatronic technology.

17

Measurement Systems

Measurement System

Environment

Sensor Transducer
Sensing device that converts a physical input into an output, usually voltage

Signal Processing Amplification Filtering Sampling Etc.

Recorder
Recording or displaying the output

18

Examples of Measurement systems

Digital Thermometer
Convert temperature to small voltage Increase voltage magnitude Convert analog voltage to digital signal Display the value of temperature

19

Examples of Measurement systems

Motion capture system Biopotential measurement system

http://www.biosemi.com/applications.htm