Mechatronics

Dr. Kevin Craig

Associate Professor of Mechanical Engineering
Department of Mechanical, Aerospace, & Nuclear Engineering
&
Director of Core Engineering
School of Engineering
Rensselaer Polytechnic Institute
Troy, NY 12180
Office: JEC 3018 Phone: 518-276-6626
E-Mail: craigk@rpi.edu Fax: 518-276-4860
Mechatronics Laboratory: JEC 1022 Phone: 518-276-8978

Mechatronics K. Craig
Introduction 1
 What is Mechatronics?

Mechatronics is the
synergistic
combination of
mechanical
engineering,
electronics, controls
engineering, and
computers, all
integrated through the
design process.

Mechatronics K. Craig
Introduction 2
 Electro-Mechanical Designs
Type 1: Type 2: Type 3:
Electronics, Electronics, Electronics,
Computers, & Computers, & Computers, &
Controls Add Controls Impart Controls
Additional Additional Provide System Type 3
Operations Functions Synergy Designs are
Mechatronic
Systems

Cost

System
Complexity

Mechatronics K. Craig
Introduction 3
 “Over the Wall” State

Electrical Mechanical Control Computer

Design Design Design Design

Manufacture Manufacture Manufacture Manufacture

Mechatronics K. Craig
Introduction 4
 Concurrent Engineering

Electrical Mechanical Control Computer

Design Design Design Design

+ + + +
Manufacture Manufacture Manufacture Manufacture

Mechatronics K. Craig
Introduction 5
 Mechatronics

Electrical Mechanical Control Computer

Design
+
Manufacture

Mechatronics K. Craig
Introduction 6
 The Design Challenge
The cost-effective incorporation of
electronics, computers, and control
elements in mechanical systems
requires a new approach to design.

The modern engineer must draw

on the synergy of
Mechatronics.
Mechatronics K. Craig
Introduction 7
 Difficulties in Mechatronic Design

• Requires System Perspective

• System Interactions Are Important
• Requires System Modeling
• Control Systems Go Unstable

Mechatronics K. Craig
Introduction 8
 Balance: The Key to Success

Experimental
Modeling Validation
& &
Analysis Hardware
Implementation
The Mechatronic System Design Process

Computer Simulation Without Experimental Verification

Is At Best Questionable, And At Worst Useless!
Mechatronics K. Craig
Introduction 9
 Balance in Mechatronics is the Key!
The essential characteristic of a mechatronics engineer and
the key to success in mechatronics is a balance between the
following sets of skills:

• modeling (physical and mathematical), analysis (closed-

form and numerical simulation), and control design
(analog and digital) of dynamic physical systems

• experimental validation of models and analysis (for

computer simulation without experimental verification is at
best questionable, and at worst useless!) and
understanding the key issues in hardware implementation
of designs
Mechatronics K. Craig
Introduction 10
 Dynamic System Investigation

Physical Physical Mathematical

System Model Model

Experimental Mathematical
Comparison
Analysis Analysis

Design
Changes

Mechatronics K. Craig
Introduction 11
 Measurements,
Calculations, Which Parameters to Identify?
M odel What Tests to Perform?
Manufacturer's Specifications
Param eter
ID

P h y s ic a l P h y s ic a l M ath
S ystem M odel M odel

Assumptions Physical Laws Equation Solution:

Experimental and Analytical
Analysis Engineering Judgement Model Inadequate: and Numerical
Modify Solution

A ctual P r e d ic t e d
D y n a m ic Com pare D y n a m ic
B e h a v io r B e h a v io r

M ake
D e s ig n
D e s ig n
Modify
Model Adequate, Model Adequate, C o m p le t e
or D e c is io n s Performance Inadequate Performance Adequate
Augment

D y n a m ic S y s t e m I n v e s t ig a t io n
Mechatronics K. Craig
Introduction 12
 Mechatronics is NOT
Concurrent Engineering
CONCURRENT ENGINEERING
Bridges Design and Manufacturing.
Electrical, Mechanical, Control and Computer Engineers
Operate in Separate Environments.
(vertical integration)

MECHATRONICS
Integration of Electrical, Mechanical, Control, and Computer
Engineering Knowledge
in Both Design and Manufacturing.
(horizontal & vertical integration)
Mechatronics K. Craig
Introduction 13
 Mechatronics is NOT
Electromechanics

ELECTROMECHANICS
Design of prime movers: a.c. motors, d.c. motors, solenoids.
Design of generators. Control of motors: commutation
of d.c. motors, startup of a.c. motors.

MECHATRONICS
The synergistic combination of actuators, sensors, control
systems, and computers in the design process.

Mechatronics K. Craig
Introduction 14
 Mechatronics is MORE than just
Control Systems
Mechatronics draws heavily on the concepts of control
systems only because they provide a coherent
framework for system analysis.

Controls are an integral component to any mechatronic

design and not an afterthought add-on.

However, open-loop and feedforward control structures

are as valid as feedback ones for design solutions.

Mechatronics K. Craig
Introduction 15
 Benefits of Mechatronics
Mechatronics is spawning a new breed of
intelligent components and systems that combine
an optimum blend of all available technologies.
• Shorter Development Cycles
• Lower Costs
• Increased Quality
• Increased Reliability
• Increased Performance
• Increased Benefits to Customers
Mechatronics K. Craig
Introduction 16
 The Realm of Mechatronics

• High Speed
• High Precision
• High Efficiency
• Highly Robust
• Micro-Miniature

Mechatronics K. Craig
Introduction 17
 Mechatronic Design Concepts

• Direct Drive Mechanisms

• Simple Mechanics
• System Complexity
• Accuracy and Speed from Controls
• Efficiency and Reliability from Electronics
• Functionality from Microcomputers

Think System !
Mechatronics K. Craig
Introduction 18
 Mechatronics Engineer

• Leader in the initiation and integration of design

• Interdisciplinary knowledge of various

techniques

• Ability to master the entire design process from

concept to manufacturing

• Ability to use the knowledge resources of other

people and the particular blend of technologies
which provide the most optimal design solution
Mechatronics K. Craig
Introduction 19
 Mechatronic Areas of Study
• Mechatronic system design principles
• Modeling, analysis, and control (continuous and discrete)
of dynamic physical systems
• Analog and digital control electronics
• Control sensors and actuators
• Interfacing sensors, actuators, and microcontrollers
• Real-time programming for control
• Advanced topics, e.g.,
- fuzzy logic control
- smart materials as sensors and actuators
- magnetic bearings

Mechatronics K. Craig
Introduction 20
 Challenge to Industry
• Control Design and Implementation is still the domain of
the specialist.
• Controls and Electronics are still viewed as afterthought
add-ons.
• Electronics and Computers are considered costly additions
to mechanical designs.
• Few engineers perform any kind of modeling.
• Mathematics is a subject not viewed as enhancing one’s
engineering skills but as an obstacle to avoid.
• Few engineers can balance the modeling\analysis and
hardware implementation essential for Mechatronics.

Mechatronics K. Craig
Introduction 21
 Industry’s Choices

• Train the engineers you have in the

mechatronics approach to design.
• Give them the tools to be successful:
• Knowledge: modeling, analysis, controls
• Hardware: sensors, actuators, instrumentation, real-time
control, microcontrollers
• Software for Simulation and Control Design, e.g.,
Matlab / Simulink, Electronics Workbench
• Give them the time to use these tools!

Mechatronics K. Craig
Introduction 22
 OR
Have this happen to your
engineers!

Mechatronics K. Craig
Introduction 23
 Industry’s Bottom Line

Train your engineers in a

Mechatronics approach to design.

Give them the tools and the time to

design with synergy and
integration.

Mechatronics K. Craig
Introduction 24
 Mechatronics at RPI
Introduction to
RPI Mechatronics Engineering Design School of Engineering
Courses: Sophomore Course Capstone Design Courses
Graduate & Undergraduate 1000 students / year and Student Projects
100 students / year 500 students / year

RPI
Portal to Industry: Math, Science, Engineering
Professional Engineers Mechatronics Integration
Mentoring Across the RPI Curriculum
Professors and Students Teaching NSF Project LINKS
at RPI PDI Program
Laboratory

RSVP K-12 Student & Teacher

Distance Learning: Programs in
High Schools Mechatronics
Professionals RPI Center for Pre-
College Initiatives
Preparation and Distribution of Educational Materials:
Tutorials for Undergrads, HS Students, Professionals
by
Videotapes, CD’s, Web Sites, Publications

Mechatronics K. Craig
Introduction 25
 Mechatronics Demonstrations
• Spring-Pendulum Dynamic System
• Inverted-Pendulum Dynamic System:
Rotary and Arm-Driven
• Two-Mass, Three-Spring Dynamic System
• Electrodynamic Vibration Exciter
• High-Speed, Micron-Level Positioning System
with Variable Coulomb Friction
• Ball-on-Plate Balancing System
• Hydraulically-Balanced Beam System
• Ball-on-Beam Balancing System
• Drive-Train Friction/Backlash/Compliance Testbed

Mechatronics K. Craig
Introduction 26
 Spring-Pendulum Dynamic System

l+r
k

m
θ

Mechatronics K. Craig
Introduction 27
Mathematical Modeling and mr − m ( l + r ) θ 2 + kr + F − mg cos(θ) = 0
t
Analysis of Spring-
(l + r)
θ + 2rθ + g sin(θ) = 0
Pendulum System
sin(u)
sin
Product
1/s 1/s 9.81
Sum Integrate Integrate
Product gravity (m/s^2)
theta acc theta vel
cos(u) Spring Pendulum
cos Product Dynamic System
2
Gain Product

u^2
theta
square
theta position

Product
r
r position
1/s 1/s
Integrate Integrate t
r acc r vel Clock time
Sum

95.21 0.333 u^(-1)

spring length Sum2 inverse

5.710/1.815 k/m
unstretched
Ft=5.71 N k=172.8 N/m
(meters)
m=1.815 kg m=1.815 kg

Mechatronics K. Craig
Introduction 28
 Dynamic Response of Spring-Pendulum
System
Simulation Results: Initial Conditions theta=0.021 rad, r=0.115 m
0.25

0.2

0.15
angular and radial position (rad or meters)

0.1

0.05

-0.05

-0.1

-0.15

-0.2

-0.25
0 10 20 30 40 50 60
time (sec)

Mechatronics K. Craig
Introduction 29
 Inverted-Pendulum
Dynamic System:
Rotary and Arm-Driven
• Brushed DC Motor
• Two Optical Encoders (2000
cpr)
• PWM Servo-Amplifier
• Power Supply
• Pendulum Balancing Control
• Pendulum Swing-Up Control
• Classical, State-Space, and
Fuzzy Logic Control
• Converts between Rotary and
Arm-Driven Systems
• dSpace Real-Time Control
Implementation
Mechatronics K. Craig
Introduction 30
 Multi-Mass, Multi-Spring Dynamic System
• Brushed DC Motor with Tachometer
• Optical Encoder with 2000 cpr
• Two Infrared Position Sensors
• Free and Forced Vibrations
• System Behavior below, at, and above resonance
• Dynamic Vibration Absorber
• Physical Significance of Transfer Function Poles and Zeros
• Colocated and Non-colocated Control
• dSpace Real-Time Control Implementation

Mechatronics K. Craig
Introduction 31
 44.5N Electrodynamic Vibration Exciter

Mechatronics K. Craig
Introduction 32
 Physical Model of Vibration Shaker

Mechatronics K. Craig
Introduction 33
High-Speed, Micron-Level Positioning System
with Variable Coulomb Friction
• Actuators:
• Brushed DC Motor
• Brushless DC Motor
• Stepper Motor with
microstepping
• 80,000 and 144,000 cpr
Optical Encoders
• Coulomb Friction Device
• Variable Inertia
• Direct or Belt Drive
• MatLab Modeling and
Control Design
Environment
• dSpace Real-Time Control
Implementation
Mechatronics K. Craig
Introduction 34
 Ball-on-Plate Balancing System
• Two Brushed DC Motors
• Two Optical Encoders
(4000 cpr)
• Touch-screen Resistive
Ball-Position Sensor
• Two PWM Servo-
Amplifiers
• Two Power Supplies
• Disturbance Rejection
• Ball Position Command
Tracking, e.g., line, circle,
figure eight
• dSpace Real-Time Control
Implementation

Mechatronics K. Craig
Introduction 35
 • System Converts between
Hydraulically-Balanced Open-Loop Stable and
Beam System Open-Loop Unstable
Configurations
• Two Gear Pumps
• Two Pressure Sensors at
Tank Bases to Determine
Liquid Height
• Potentiometer for Beam
Angle
• Two PWM Servo-
Amplifiers
• Two Power Supplies
• Disturbance Rejection
• Position and Velocity
Command Tracking
• Linear and Nonlinear
Control Techniques
• dSpace Real-Time Control
Implementation
Mechatronics K. Craig
Introduction 36
 • Brushed DC Motor
Ball-on-Beam • Beam Sensors:
Balancing System Optical Encoder,
Tachometer,
Potentiometer
• Ball Sensors:
Ultrasonic,
Potentiometer,
Phototransistor
• PWM Servo-
Amplifier
• Power Supply
• Disturbance
Rejection
• Ball Position
Command Tracking
• dSpace Real-Time
Control
Implementation
Mechatronics K. Craig
Introduction 37
 Drive-Train
Friction/Backlash/Compliance
Testbed

Testbed to Study the Effects of

Gear Backlash, Drive-Shaft
Compliance, Coulomb Friction
& Variable Inertia on Accurate
Positioning

Mechatronics K. Craig
Introduction 38
 Mechatronic System Case Studies
• Thermal System Closed-Loop Temperature
Computer Control
• Pneumatic System Closed-Loop Position
Computer Control
• Stepper Motor Open-Loop and Closed-Loop
Computer Position Control
• DC Motor Closed-Loop Speed Control
• Analog Control
• Digital Control with Embedded Microcontroller
• Magnetic Levitation System
• MR Fluid Rotary Damper System
Mechatronics K. Craig
Introduction 39
 Two-Person Mechatronics
Laboratory Station
• Pentium Computer
with MATLAB,
Electronics
Workbench, and
Working Model
• Function Generator
• Digital Oscilloscope
• Multimeter
• Powered Protoboard
• Microcontroller
• Assorted analog /
digital sensors,
actuators and
components

Mechatronics K. Craig
Introduction 40
 Blue Earth Micro 485 Specifications

Blue Earth Micro 485 Specifications

Feature Specification
Microprocessor Intel 8051 running at 12 MHz
Digital I/O 27 Bi-directional TTL compatible pins
Analog Inputs 4 12-bit 0-5 volt A/D converter channels
Serial Communication RS-422, RS-232
RAM 128K, battery-backed for retention after power down
ROM 32K, contains on-board Basic and Monitor

Mechatronics K. Craig
Introduction 41
 Thermal System Closed-Loop
Temperature Control

• aluminum plate
• thin-film resistive heater
• ceramic insulation
• conduction and convection
heat transfer
• AD590 temperature sensor
• microcontroller
• on-off closed-loop control
with relay
• support analog electronics

Mechatronics K. Craig
Introduction 42
Pneumatic System Closed-Loop Position
Control
• 3/4” bore, double-acting, non-
rotating air cylinder
• linear potentiometer to measure
mass position
• 30 psig air supply
• two flow-control valves
• two 1/8”ported, 3-way, spring-
return, two-position
solenoid valves
• Darlington switches to
energize solenoids
• microcontroller
• on-off, modified on-off, PWM
closed-loop control

Mechatronics K. Craig
Introduction 43
 Schematic of Pneumatic Servomechanism
Pneum atic Positioning Closed-Loop Control System Power
Supply

Supply Air

30 psig

Valve A Valve B
Manual Flow Control Valves Darlington
Switches

1/8 Inch Ported, 3-W ay, Spring-Return,

Two-Position, Solenoid Valves
Microcontroller
with 12-Bit
A/D Converter

Piston Shaft
A Cham ber 1 Piston B Mass
Cham ber 2

Actuator
3/4 Inch Bore, Double-Acting,
Non-Rotating Air Cylinder
5 Volts
Linear Potentiom eter
4-Inch Stroke

Mechatronics K. Craig
Introduction 44
 Stepper Motor
Open-Loop and Closed-Loop Control
• stepper motor
• optical encoder
• microcontroller
• electronics to interface the
microcontroller to the
motor and encoder
• full-step and half-step
operation
• control via a Quad-Darlington
IC
• control via a step-motor-driver
IC
• programming in Basic or C

Mechatronics K. Craig
Introduction 45
 Stepper Motor System
Design:
Ink-Jet Printer
Application

Stepper Motor Open-Loop

and Closed-Loop Control

Mechatronics K. Craig
Introduction 46
 DC Motor Closed-Loop Speed Control

• Permanent-magnet brushed
DC motor
• integral analog tachometer
• aluminum disk load inertia
• PWM power amplifier
• 24-volt, 4-amp power supply
• analog control design and
implementation:
lead, lag, lead-lag

Mechatronics K. Craig
Introduction 47
Microcontrol Motor-Speed-Control Testbed
• Two embedded microcontrollers
from MicroChip Inc. configured
for: 3 channel 8-bit analog /
digital (A/D) acquisition , 10-bit
pulse-width-modulated (PWM)
drive, serial communication to
PC, general purpose digital I/O
• High power H-bridge for output
stage of pulse-width-modulated
(PWM) driver (for d.c. motors)
• Hex keypad for data entry
• Liquid crystal display (LCD)
for data display
• Analog electronics (op amps) for
measuring tachometer and input
reference signal

Mechatronics K. Craig
Introduction 48
 Magnetic Levitation System
• Magnetically-levitated 1/2”-
diameter steel ball
• electromagnet actuator: 1/4”
steel screw with
3000 turns of 26-
gauge wire
• gap sensor: infra-red diode
emitter and
phototransistor
detector
• TIP-31, NPN, bipolar transistor
as a current amplifier
• ±15 volt, +5 volt power supply
• analog lead controller design
and implementation

Mechatronics K. Craig
Introduction 49
 Schematic Of
Magnetic Levitation System

Electro ma gnet Pho to t ran sisto r

IR L ED
C ont rollers
& Po wer
A mplifier

Obje ct

Device Schematic

Mechatronics K. Craig
Introduction 50
 Mechanical System Digital Speed Control
using DC Motor with MR Fluid Brake

• MR Fluid Rotary
Damper
• Brushed DC Motor
with Gearbox
• Motor Tachometer
• Shaft Potentiometer
• Current Controller
• PWM Power Amplifier
• 24-Volt, 4-Amp Power
Supply
• AC/DC Adapter
• Pulley / Arm Attached
to MR Fluid
Brake
• Microcontroller with
D/A Converter
Mechatronics K. Craig
Introduction 51
 All these systems are
industrially relevant and require
a complete dynamic system
investigation with a balance
between modeling / analysis and
hardware implementation.

Only a Mechatronics
engineer can accomplish
this!
Mechatronics K. Craig
Introduction 52
 Mechatronics
Exercise Examples
• Analog Electronics: Time Response,
Frequency Response, Loading Effects

• Dynamic System Modeling and Analysis:

Space Station Solar Alpha Rotary Joint

• Modeling, Analysis, and Control of an

Electrohydraulic Valve-Controlled
Servomechanism
Mechatronics K. Craig
Introduction 53
Analog Electronics:
RC Low-Pass Filter
Time Response & Time Response
Frequency Response 1

0.9

0.8

Vout 1 0.7
=
Vin RCs + 1 0.6

Amplitude
0.5

0.4

Resistor 15 KΩ 0.3

0.2
Vin Vout 0.1
Capacitor 0.01 µF
0
0 1 2 3 4 5
Time (sec)

Time Constant τ = RC

Mechatronics K. Craig
Introduction 54
 Frequency Response
0
0

-20
-5

Phase (degrees)
-40
-10
Gain dB

-60
-15

-80
-20

-100 2
-25 2 3
3 4 5 10 10
10 10 10 10
Frequency (ra
Frequency (rad/sec)

Bandwidth = 1/τ

Mechatronics K. Craig
Introduction 55
 Analog Electronics:
Loading Effects

Resistor 15 KΩ LMV OP = LMRCs + 1

in OPLM OP
− R Vout
N i Q N Cs
in −1 Q N i Q
out

Vin Vout Vout 1 1

Capacitor 0.01 µF = = when i out = 0
Vin RCs + 1 τs + 1
Vout R
Zout = = Output Impedance
i out Vin = 0
RCs + 1

Vin RCs + 1
Zin = = Input Impedance
i in i out = 0
Cs

RC Low-Pass Filter

Mechatronics K. Craig
Introduction 56
 Vout FG 1 IJ FG 1 IJ
Vin
≠ G (s)1− unloaded G (s) 2 − unloaded =
H
RCs + 1 K H RCs + 1K
Vout
= G (s)1−loaded G (s) 2 − unloaded
Vin
F I
F 1 IJ GG 1 JJ FG 1 IJ
Resistor 15 KΩ Resistor 15 KΩ

=G
Vin Vout H RCs + 1K G 1 + Z out −1 JK H RCs + 1K
Capacitor 0.01 µF Capacitor 0.01 µF
H Z in − 2

1
=
bRCs + 1g + RCs
2

Only if Zout-1 << Zin-2 for the frequency range

of interest will loading effects be negligible.

2 RC Low-Pass Filters in Series

Mechatronics K. Craig
Introduction 57
 Space Station Solar Alpha Rotary Joint:
Physical System and Physical Model

Rotor
Stator Gear Solar
Train
Array

Inboard
B ody
Outbo
ard
Body

+x

R L
Stator Solar
im + Array
+ Rotor
Vin eb Jm θm
-
K1 K2
- +x
N:1 Job Jsa
Gear Ratio B1 B2 Td
Stator θm
′
mechanically θ ob θ sa
grounded

Mechatronics K. Craig
Introduction 58
 Solar Alpha Rotary Joint
Mathematical Model

LM 0 0 0 1 0 0 OP L 0 OP
LMθ ′ OP M 0 0 0 0 1 0 P L θ′ O M
0

MMθ PP MM −0K
m
M P 0
1 P Mθ P M
m
0 PP
ob
0
K1
0 0
− B1
0
B1 P ob

0 P M θ P M NK
M 0 0
P L i O
MMθθ′ PP = MM N J
1
0
sa 2
N 2J m N 2J m N 2J m P MMθ ′ PP + M N J
sa t
0 PM P
m

NT Q
M P
m

MMθ PP MM JK B P
2
− K1 − K 2 K2 B1 − B1 − B2
Mθ P M 0
m m m d
0 P
J PM P
1 2

MNθ PQ MM 0
ob
ob J ob J ob J ob J ob
− B P MN θ PQ M 0
ob
ob
M 1 P
P J PQ
K2 − K2 B2
sa

MN J sa J sa
0
J sa J PQ
sa
2 sa
N sa

Mechatronics K. Craig
Introduction 59
 Frequency Response Plots: Input im
0
θ ob
θ′m
Gain dB

-200
θ sa

-400 -1 0 1 2
10 10 10 10
Frequency (rad/sec)

360

φD θ sa
0
θ′m
-360 θ ob
-1 0 1 2
10 10 10 10

Mechatronics K. Craig
Introduction 60
 Time Response: im = cos(0.6t)
0.02

0.018
θ sa
0.016

0.014

0.012
Amplitude

0.01

0.008 θ ′m
0.006 θ ob
0.004

0.002

0
0 5 10 15 20 25
Time (secs)

Mechatronics K. Craig
Introduction 61
 Electrohydraulic Valve-Controlled
Servomechanism

Mechatronics K. Craig
Introduction 62
 Nonlinear Model
ELECTROHYDRAULIC VALVE-CONTROLLED SERVOMECHANISM
Qcl
input To Workspace2
To Workspace6 Qcr
Xv - Xc Positive To Workspace3
Xv Command Xv - Xc Positive Pcl Qcl Qcl
Xv - Xc Pos
Xv Step Command Xc Xv - Xc Negative Xv - Xc Neg
Xv - Xc Negative Pcr Qcr Qcr
Controller
Flow

Xc
To Workspace1

Pcl
To Workspace4

Pcl Xc Xc Xc Pcl Pcr

Qcl Pcl
To Workspace5
Pcr Xc dot Qcr
Xc dot Pcr Pcr
Mass Xc dot
Cylinder

time
Clock To Workspace

Mechatronics K. Craig
Introduction 63
 Linear Mathematical Model

V0 dp cl ,p dx C ,p
cC x
x v ,p − C p p cl ,p h −
M B dt
c h
− K pl p cl ,p − p cr ,p = A p
dt

V0 dp cr ,p dx C ,p
c−C x
x v ,p − C p p cr ,p h −
M B dt
c h
+ K pl p cl ,p − p cr ,p = − A p
dt

dx C ,p d 2 x C ,p
cp cl ,p − p cr ,p h
Ap − B
dt
+ f U ,p = M
dt 2

Mechatronics K. Craig
Introduction 64
 Linear Model
Pcl_l
To Workspace1
Cp Sum5

MB/Vo 1/s Pcl Ap

Gain6
Integrator2 Gain4
Sum Gain2
Sum7
500
Sum2
Qcl_l
Kpl Constant1
Pcr To Workspace4
MB/Vo 1/s
Cp Gain5
Integrator3
Sum3 Gain3 Gain7
Pcr_l
To Workspace2
Sum6
Ap
time_l
To Workspace Gain9
Clock Sum8
input_l
To Workspace6 Qcr_l
0 1/M 1/s 1/s Xc
To Workspace5
Cx Disturbance Sum1 Integrator Integrator1
Gain
fu
Sum4 Gain8
B Xc_l
To Workspace3
Gain1

Xv Step Command ELECTROHYDRAULIC VALVE-CONTROLLED SERVOMECHANISM (LINEAR)

Mechatronics K. Craig
Introduction 65
 Take the Laplace Transform of these linear equations and
derive six useful transfer functions relating the two inputs, xv
and fU, to the three outputs, pcl, pcr, and xC.

LM V s + M cK
0 B pl + Cp h − K pl OP
A ps
MM C M x B Cx Cx PP LM p OP LMx OP
MM K c
− V0s − M B K pl + C p h A ps
PP
cl v

MMpx PP = MMxf PP
pl
cr v
C Cx M B C
MM −A
x
Ap Ms + BsP
2
x
N C Q N Q U

N
p
PQ

Mechatronics K. Craig
Introduction 66
One of these transfer functions is:
xC
xv
s = af F K
s2 2ζs IJ
GH s 2+
ωn ωn
+1
K
2C x A p
K=
where c
2A 2p + B C p + 2 K pl h
ωn =
c
M B 2A 2p + B C p + 2 K pl h
MV0

B+
FG 2M M IJ K + FG M M IJ C
H V K H V K
B B
pl p

ζ= 0 0

2A + BcC + 2 K h
M MB 2
2 p p pl
V 0

Mechatronics K. Craig
Introduction 67