**WB2414-09:** |
**Mechatronic System Design** |

**ECTS:** |
4 |

**Responsible Instructor:** |
Prof.ir. R.H. Munnig Schmidt |

**Contact Hours / Week x/x/x/x:** |
0/2/2/0 |

**Education Period:** |
2, 3 |

**Start Education:** |
2 |

**Exam Period:** |
3, 4 |

**Course Language:** |
English |

**Required for:** |
All PME students |

**Expected prior knowledge:** |
Bsc Mechanical Engineering or Aerospace Engineering. Bsc students of Electrical Engineering or Physics can also follow the course if they have a comparable background knowledge on the fundamental mechanical disciplines like structural design, control, statics and dynamics. This can be accomplished by following a free minor that at least includes "Dynamica II (WB1216-06)" The Power electronics part assumes knowledge of low power electronics with operational amplifiers and basic transistor schemes as given in the Bsc 2nd year program "Mechatronica Project" and the Msc course WB2303 Electronics and Measurement, which overlaps with WB2414 such that by following both courses low-power electronics will be introduced in WB2303 in February followed by power electronics in WB2414 in March. The used book, "The Design of High-Performance Mechatronics" also provides sufficient information of the background theory to prepare for this course by self-study. |

**Course Contents:** |
Mechatronic system design deals with the design of controlled motion systems by the integration of functional elements from a multitude of disciplines. It starts with thinking how the required function can be realised by the combination of different subsystems according to a Systems Engineering approach (V-model). Some supporting disciplines, like power-electronics and electromechanics, are not part of the BSc program of mechanical engineers. For this reason this course introduces these disciplines in connection with PID-motion control principles to realise an optimally designed motion system. The target application for the lectures are motion systems that combine high speed movements with extreme precision. The course covers the following four main subjects: 1: Dynamics of motion systems in the time and frequency domain, including analytical frequency transfer functions that are represented in Bode and Nyquist plots. 2: Motion control with PID-feedback and model-based feedforward control-principles that effectively deal with the mechanical dynamic anomalies of the plant. 3: Electromechanical actuators, mainly based on the electromagnetic Lorentz principle. Reluctance force and piezoelectric actuators will be shortly presented to complete the overview. 4: Power electronics that are used for driving electromagnetic actuators. The fifth relevant discipline, position measurement systems is dealt with in another course: WB2303, Electronics and measurement. The most important educational element that will be addressed is the necessary knowledge of the physical phenomena that act on motion systems, to be able to critically judge results obtained with simulation software. The lectures challenge the capability of students to match simulation models with reality, to translate a real system into a sufficiently simplified dynamic model and use the derived dynamic properties to design a suitable, practically realiseable controller. This course increases the understanding what a position control system does in reality in terms of virtual mechanical properties like stiffness and damping that are added to the mechanical plant by a closed loop feedback controller. It is shown how a motion system can be analysed and modelled top-down with approximating (scalar) calculations by hand, giving a sufficient feel of the problem to make valuable concept design decisions in an early stage. With this method students learn to work more efficiently by starting their design with a quick and dirty global analysis to prove feasibility or direct further detailed modelling in specific problem areas. |

**Study Goals:** |
The student will be able to understand the different disciplines that are applied in controlled motion systems. The student will be able to create a basic design of a controlled motion system including the applied actuator and power amplifier. The student will understand the basic physics that determine the ultimate performance of a controlled motion system. The student will be able to analyse the expected performance of dynamic motion systems by means of Bode and Nyquist plots of the open-loop transfer function of the controller with the mechanical plant. The student will be able to determine the optimal PID-controller settings for a given mechanical plant by loopshaping. |

**Education Method:** |
Lectures are given in 14*2 lecture hours with presentations on theory and practice of active-controlled motion systems. The material is based on a book that is available for students at a significantly reduced costprice. The lectures are targeted to create access to and basic understanding of the contributing disciplines in mechatronic systems by means of practicing in five exercises, spread over the two quarters that are made available to prepare for the examination. These exercises are done voluntarily. The attention and involvement of the students is enhanced by the frequent use of "clickers", to obtain real-time feedback during the lectures on the presented material. Cooperation between students on the exercises is encouraged to stimulate peer teaching. |

**Computer Use:** |
No computers will be used nor will the emphasis lay on exact calculated values. The application of MATLAB for the creation of Bode and Nyquist plots is allowed but not preferred. |

**Literature and Study Materials:** |
The presentations, relevant book chapters and assignments will be published on blackboard. |

**Books:** |
The study book "The Design of High Performance Mechatronics", written by R.H.Munnig Schmidt, Georg Schitter and Jan van Eijk is used in this course and also in other courses given by PME. It can be obtained at the Leeghwater office for a price that covers the cost for printing and distribution only. The authors receive no fee for the books sold inside the university. The discounted price for the first edition will be lowered from €45 to €30 as of august 2013 until this edition is fully sold out. With the second edition several improvements are applied which will bring the costprice back to €45 for students as it was before. For comparison, the book is sold outside the University for €135. |

**Assessment:** |
Grading is based on an open-book written examination. The examination will consist of four questions covering the above-mentioned four covered disciplines that determine the main dynamic performance of a controlled motion system: dynamics, control, actuation and power electronics. |

**Permitted Materials during Tests:** |
Only the book and/or the printed book-chapters published on blackboard are allowed. So no computers, e-readers, smartphones or other items. |