Course SyllabusUtah State UniversityElectrical and Computer Engineering ECE5320 MechatronicsSpring 2008 OfferingCourse Description: ECE5320 Mechatronics (4 cr). Principles, modeling, interfacing and signal conditioning of motion sensors and actuators; 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 design methods; introduction to nonlinear effects and their compensation in mechatronic systems. Three lectures, one lab. Prerequisite: ECE 5310. (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: [email protected]: http://www.csois.usu.edu/people/yqchenOffice Hours: MW 1:00 PM to 2:00 PM or by appointment. Lecture Hours: First Day of Class: Jan. 8, 2008. Tue. Engr 202. 10:30-11:45AM. Course Schedule: Tu|Th 10:30-11:45AM.Lab/Lab Orientation/Lecture:- EL 112, Controls Lab. Every week MWF 2 :30-5 :20PM.- Engr 202 (even week or by email notice, Fri. 10:30-11:45AM)Prerequisites: ECE 5310/MAE 5310. Control Systems I (or Instructor’s approval), for all. Course Web: http://mechatronics.ece.usu.edu/ece5320/ Textbook: I suggest the 2nd 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. PDFfiles online available at www.engnetbase.com Section One – Overview of Mechatronics1. What is Mechatronics?2. Mechatronic Design Approach3. System Interfacing, Instrumentation and Control Systems4. Microprocessor-Based Controllers and Microelectronics5. An Introduction to Micro- and Nanotechnology6. Mechatronics: New Directions in Nano-, Micro-, and Mini-Scale Electromechanical SystemsDesign, and Engineering Curriculum DevelopmentSection Two – Physical System Modeling7. Modeling Electromechanical Systems8. Structures and Materials9. Modeling of Mechanical Systems for Mechatronics Applications10. Fluid Power Systems11. Electrical EngineeringCreated on 1/3/2005. Last modified by Dr YangQuan Chen on 01/07/2008112. Engineering Thermodynamics13. Modeling and Simulation for MEMS14. Rotational and Translational Microelectromechanical Systems: MEMS Synthesis, Microfabrication,Analysis, and Optimization15. The Physical Basis of Analogies in Physical System ModelsSection Three – Sensors and Actuators16. Introduction to Sensors and Actuators17. Fundamentals of Time and Frequency18. Sensor and Actuator Characteristics19. Sensors19.1 Linear and Rotational Sensors19.2 Acceleration Sensors19.3 Force Measurement19.4 Torque and Power Measurement19.5 Flow Measurement19.6 Temperature Measurements19.7 Distance Measuring and Proximity Sensors19.8 Light Detection, Image, and Vision Systems19.9 Integrated Micro-sensors20. Actuators20.1 Electro-mechanical Actuators20.2 Electrical Machines20.3 Piezoelectric Actuators20.4 Hydraulic and Pneumatic Actuation Systems20.5 MEMS: Microtransducers Analysis, Design and FabricationSection Four – Systems and Controls21. The Role of Controls in Mechatronics22. The Role of Modeling in Mechatronics Design23. Signals and Systems23.1 Continuous- and Discrete-time Signals23.2 Z Transforms and Digital Systems23.3 Continuous- and Discrete-time State-space Models23.4 Transfer Functions and Laplace Transforms24. State Space Analysis and System Properties25. Response of Dynamic Systems26. Root Locus Method27. Frequency Response Methods28. Kalman Filters as Dynamic System State Observers29. Digital Signal Processing for Mechatronic Applications30. Control System Design Via H2 Optimization31. Adaptive and Nonlinear Control Design32. Neural Networks and Fuzzy Systems33. Advanced Control of an Electrohydraulic Axis34. Design Optimization of Mechatronic SystemsSection Five – Computers and Logic Systems35. Introduction to Computers and Logic Systems36. Logic Concepts and Design37. System Interfaces38. Communication and Computer Networks39. Fault Analysis in Mechatronic Systems40. Logic System Design41. Synchronous and Asynchronous Sequential Systems42. Architecture43. Control with Embedded Computers and Programmable Logic ControllersSection Six – Software and Data Acquisition44. Introduction to Data Acquisition45. Measurement Techniques: Sensors and Transducers46. A/D and D/A Conversion47. Signal Conditioning48. Computer-Based Instrumentation Systems49. Software Design and Development50. Data Recording and Logging[2]. John G. Webster. Editor-in-chief. “Measurement, Instrumentation, and Sensors Handbook” CRCPress. 1999. 0-8493-2145-X. PDF files online available at www.engnetbase.com (101 Chapters!)Demos: http://mechatronics.colostate.edu/Created on 1/3/2005. Last modified by Dr YangQuan Chen on 01/07/20082More References: will be provided by the Instructor. Check here http://mechatronics.ece.usu.edu/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 ODISSensors:- Analog position measurement- Digital position measurement - Temperature sensors.- Strain, stress, force measurement- AccelerometersActuators:- DC Motors- Stepper motors- Hydraulic motors- Piezo actuatorsInterfacing:- Op amps, - Signal conditioning, - AD/DA, - Power Amplifiers- MATLAB serial communication- LCD modulesHardware-in-the-loop experimentation and rapid 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 system stabilityDiscrete-time System Identification- Basic concept and procedures- Least squares identification method for ARMA model- Introduction to the sufficient excitation problem, under- and over-parameterization problemsDigital Controller Design:- Approximate continuous design- At-sample design- PID control and relay automatic tuning. - Repetitive control- Adaptive feedforward control- ZPETC- Disturbance observerMisc.- PLC and
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