Module2 1 - Mecha Toolbox I
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Transcript of Module2 1 - Mecha Toolbox I
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7/31/2019 Module2 1 - Mecha Toolbox I
1/19
MECHATRONIC PRODUCT DEVELOPMENT
Product Innov@tion -- Maschinenbau 1
Systems andcomponents(mechatronic toolbox)Part 1
Stefan Dierssen
Content of module 2
Part 1:
System Overview
Control types
Peripherals (sensors/ actors)
Basic systems
Part 2:
Control programming (overview)
NC Controls
Field communication
Cycle time
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MECHATRONIC PRODUCT DEVELOPMENT
Product Innov@tion -- Maschinenbau 2
Objectives
Know the major elements of a mechatronic system
Overview of control types and their application areas
Functionality and characteristics of sensors and actuators
Definition of base systems
Leadslide
requirements
assurance of propertiessy
stemdesign
syste
minte
grati
on
product
modeling and model analysis
domain-specific design
E-CAD
programming
M-CAD
Control Simulation 3D Visualization
Control
Basic System
SensorsActors
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MECHATRONIC PRODUCT DEVELOPMENT
Product Innov@tion -- Maschinenbau 3
Mechatronic system
requirements
assurance ofpropertiessyste
mdesign
s y s t e
m i n t e
g r a t i o n
product
modelingand modelanalysis
domain-specificdesign
E-CAD
programming
M-CAD
C o nt r ol S i mu l at i on 3 D V is u al i za t io n
Control
Basic System
SensorsActors
InformationMaterial Energy
Electro mechanical
Border
Mechanical design
Control technology
Control
Basic System
SensorsActors
Mechatronic system overview
Control
Basic system
SensorsActuators
Control types
Connection
possibilities
Types and
signals
Cycle time
Types and
signals
Physical
connections
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MECHATRONIC PRODUCT DEVELOPMENT
Product Innov@tion -- Maschinenbau 4
Basic system
Signal flow of electronic controls
Field communication
SensorsActors
User
Output level Signal
flow
Input level
Control
signal processingsignal adjustment
(ampilifier)signal adjustment
Mechatronic system overview
Control
Basic system
SensorsActuators
Control types
Connection
possibilities
Types and
signals
Cycle time
Types and
signals
Physical
connections
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MECHATRONIC PRODUCT DEVELOPMENT
Product Innov@tion -- Maschinenbau 5
Definition control
Control:
According to DIN 19237 the control serves for the influence ofthe output variables of a system by one or more inputparameters due to the system specific behavior.[G. Phal, W. Beitz, J. Feldhusen, K.H. Grote 2003, S. 571]
First control system / liquid level control
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MECHATRONIC PRODUCT DEVELOPMENT
Product Innov@tion -- Maschinenbau 6
First control systems
Liquid-level Control:
greece 300 B.C.: water clock; time measurement bytrickling water constantly into a container -> similar towater level control in flush toilets
Steam pressure control (1681)
Denis Papins safty valve: Weighting the valve top
Speed control (1745)
Pitching blades of a windmill
Stability, Stabilization and Steering (1868)
James Clerk Maxwell published stability criterion for third-order system based on the coefficients of the differentialequation
Mechnical control
Cam discs
Mechanical control automatic lathe
weck
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MECHATRONIC PRODUCT DEVELOPMENT
Product Innov@tion -- Maschinenbau 7
Sample of a cam disc
angle input Mechanical
Transfer elementOutput function f()
X=f()x
Usages of cam discs
Date indication in watches(hours and minutes cam shafts from 1927)
Cam shaft in engines:
Cam shafts in textile machines:
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MECHATRONIC PRODUCT DEVELOPMENT
Product Innov@tion -- Maschinenbau 8
Electronic cam disc
The control takes over the functionality of the mechanicaltransfer element
Desired output function is directly executed by a servo drive
Highly dynamic drives and mechanical base systems are needed!
Synchronisation of multiple drives is a very important issue!
Control Output function f(t)
Mechanical
cam disc
Servo cam
disc
Electronic Controls
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MECHATRONIC PRODUCT DEVELOPMENT
Product Innov@tion -- Maschinenbau 9
Overview of control types
Elektrical Controls
(Elektrische Steuerungen)
Logic control
(Verknpfungs-
Steuerung)
Sequential control
(Ablaufsteuerung)
time bounded
(zeitgefhrt)
process bounded
(prozessgefhrt)
Cyclic signal
processing (zyklische
Signalverarbeitung)
Event oriented signal
processing (ereignisorientierte
Signalverarbeitung)
Sequential circuit
(Schaltwerke)
Combinatorial circuit
(Schaltnetze)
Sample of the different control types
Dredger control(Bagger), cranecontrol, simplegate controls,overpressure/overheat controls
Input signals are assigned tooutput signals by booleanlogic without beingconstrained for a sequentialprocessing[DIN 19237]
Logic control
(Verknpfungs-Steuerung)
Application areaDescriptionControl type
Logic controls are the predecessors of sequential controls
They are still used for simple applications, e.g. gate controls orin cranes or dregger, where the human take of over the controlof the sequences to be executed
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MECHATRONIC PRODUCT DEVELOPMENT
Product Innov@tion -- Maschinenbau 10
Overview of control types
Elektrical Controls
(Elektrische Steuerungen)
Logic control
(Verknpfungs-
Steuerung)
Sequential control
(Ablaufsteuerung)
time bounded
(zeitgefhrt)
process bounded
(prozessgefhrt)
Cyclic signal
processing (zyklische
Signalverarbeitung)
Event oriented signal
processing (ereignisorientierte
Signalverarbeitung)
Sequential circuit
(Schaltwerke)
Combinatorial circuit
(Schaltnetze)
Sample of the different control types
Automization;CNC machines,robotics
Control with forcedsequential processing wherethe switch from on step tothe following is dependent onthe defined switchingconditions[Deutsche Elektronische Kommission]
Sequentialcontrol
(Ablauf-steuerung)
Application areaDescriptionControl type
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MECHATRONIC PRODUCT DEVELOPMENT
Product Innov@tion -- Maschinenbau 11
Types of sequential controls
ProviderCycletime
ApplicationsCharacteristicsControltype
Fanuc;0.01-100ms
Communication;
Usage of standardcomponents (PC);Miniaturisation
embedded
Simotion; B&R0.01-10msAutomation,specialmachines
Virtual upright shaft(Knigs-welle)realisation; virtualcam disc(Kurvenscheiben)
Motioncontrol
Simatic;Rockwell, B&R;Beckhoff
1-100msAutomation,handling
Control of analog/digital i/os
PLC
Siemens(Sinumerik);Fanuc (series
30i/300i);NUM
0.01-1msStandardmachines
Interpolated pathgeneration/ tracking;standard UI
CNC
PLC
In-/output
CPU Memory
Interface
Bus system
Control design
Typical components of a PLC/ CNC/ embedded Control (CPU,RAM, E/A,)
Processor
Bus
RAM
Interfaces
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Product Innov@tion -- Maschinenbau 12
Mechatronic system overview
Control
Basic system
SensorsActuators
Control types
Connection
possibilities
Types andsignals
Cycle time
Types and
signals
Physical
connections
Definition sensor
Sensor: A sensor converts a state variable of a technical processof a quality which is not suitable as a signal into a signal whichcan be transmitted, further processed and registered. [VDI 22062004]
Converts a state variable of the basic system, into an information signal tothe control.
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Product Innov@tion -- Maschinenbau 13
Classification of sensors
Application areasSensor base types
Temperature, infrared radiation image, etc.Thermal sensors
Intensity, wavelength, phase, vision, interferenceOptical sensors
pH, enzymes, ions, gases, concentration, humidity, biological,frequency shift or Doppler
Chemical and biologicalsensors
Sound intensity (pressure), viscosity, flow rate frequency, Acoustic and flow sensors
Voltage, current, resistance, capacitance, inductance,
magnetic, radiation
Electrical and magnetic
sensors
Position, displacement, velocity, acceleration, vibration, stressand strain, force, torque, pressure, surface topographyroughness, etc.
Mechanical sensors
Examples of sensors
Mechanical:
displacement
Mechanical:
accelleration
Chemical:
concentration
Electrical:
resistance
Mechanical:
pressure
Optical:
intensity
Electrical:
inductance
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Product Innov@tion -- Maschinenbau 14
Signal transformation in sensors
Physical reaction
Process
characteristics
Electrical
voltage/current
InPro 8400 MT Trbheitssensor
Control
Base System
state variables
Sensor
Complex sensors
Complex sensors are combined sensors that contain differentbase sensor types (e.g. vision systems; sensors including
calibration sensors,)
Structured light principle:- A laser projects light into a scene in a
known direction
- The intersection of the laser with objects is
observed by a video camera
- By triangulation the distance of the object
can be measured
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MECHATRONIC PRODUCT DEVELOPMENT
Product Innov@tion -- Maschinenbau 15
Mechatronic system overview
Control
Basic system
SensorsActuators
Control types
Connection
possibilities
Types andsignals
Cycle time
Types and
signals
Physical
connections
Definition actor
Actor/Actuator: Converts an information signal from the control,into energy acting on the basic system.
[Bathelt, Jnsson, Dierssen 2005]
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Product Innov@tion -- Maschinenbau 16
Classification of sensors and actuators
Application areasActor types
Displays, LEDsOptical actors
SpeakerAcoustic actors
Resistance heatingHeat actors
Synchron (AC/DC) drive, asynchron drive, linear drive,
relay, piezo-electric drive, pneumatic drive, hydraulic drive
Force / movement actors
Example of actors
Movement:
electromagnetic
Torque:
electromagnetic
Movement:
pneumatic
Light:LED
Sound:electromagnetic
Current:voltage
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MECHATRONIC PRODUCT DEVELOPMENT
Product Innov@tion -- Maschinenbau 17
Signal flow between controls - actors
Primary signal
Secondary
signal
Low power
e.g. +/-10V_24V
High power
e.g. 220/380V; 0.1-300 A
Control
Amplifier
Actor
Base System
Energy
Additional
energy
Signal flow between controls - actors
Primary signal
Voltage
Voltage (analog)
information (digital)
information (digital)
Secondary
signal
pressure
current
Current/voltage
movement
torque
Voltage (analog)
information (digital)
+/-10V_24V
0.1-300 A
0.01-300 bar
0.1- 10 A
Control
heat
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MECHATRONIC PRODUCT DEVELOPMENT
Product Innov@tion -- Maschinenbau 18
Mechatronic system overview
Control
Basic system
SensorsActuators
Control types
Connection
possibilities
Types andsignals
Cycle time
Types and
signals
Physical
connections
Definition basic system
Basic System:
Basis of the mechatronic system consisting of ordered and linkedelements that have an interface to the environment by definedinput and output parameters that influence the system.
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MECHATRONIC PRODUCT DEVELOPMENT
Product Innov@tion -- Maschinenbau 19
Objectives
Know the major elements of a mechatronic system
Overview of control types and their application areas
Functionality and characteristics of sensors and actuators
Definition of base systems