Industrial Automation Chapter 1 PDF

Copyright © 2020 by Mamon Horoub. All rights reserved. Industrial Automation Tuesday, November 1, 2022 Copyright © 2020 by Mamon Horoub. All rights reserved....

Copyright © 2020 by Mamon Horoub. All rights reserved. Industrial Automation Tuesday, November 1, 2022 Copyright © 2020 by Mamon Horoub. All rights reserved. Industrial Automation. Tuesday, November 1, 2022 Copyright © 2020 by Mamon Horoub. All rights reserved. ENMC5371: Industrial Automation Chapter 1: Introduction to Industrial Automation Dr. Mamon M. Horoub Assistant Professor, Mechatronics Department Copyright © 2020 by Mamon Horoub. All rights reserved. 1 Objectives Today’s 2 Definitions Class 3 Introduction on Industrial Automation Agenda 4 The Functional Elements of Industrial Automation 5 Industrial Control Systems Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Part 1 Objectives Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Objectives o To define Industrial, Automation and Control and explain the difference between the three key words. o To explain the relation between Automation and Information Technology. o To underline the basic objectives of a manufacturing industry and explain how automation technology relate to these. o To introduce the concept of a Product Life Cycle and explain how Automation and Control technologies relate to the various phases of the cycle. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Objectives o To classify Manufacturing plants and categories the different classes of Automation Systems that are appropriate for these. o To describe the various elements of an Industrial Automation Systems and how they are organized hierarchically in levels. o To explain how these levels relate to each other in terms of their functions.. o To describe the nature of technologies involved in realizing these functional levels. o To describe the nature of information processing in these levels and the information flow among them. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Part 2 Understanding the Title of the Course (difference b/t Automation & Control) Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Industry In a general sense the term “Industry” is defined as follows: Definition: Systematic Economic Activity that could be related to Manufacture/Service/ Trade. In this course, we shall be concerned with Manufacturing Industries only. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Automation The word ‘Automation’ is derived from greek words “Auto”(self) and “Matos” (moving). Automation therefore is the mechanism for systems that “move by itself”. However, apart from this original sense of the word, automated systems also achieve significantly superior performance than what is possible with manual systems, in terms of power, precision and speed of operation. Definition: Automation is a set of technologies that results in operation of machines and systems without significant human intervention and achieves performance superior to manual operation A Definition from Encyclopaedia Britannica The application of machines to tasks once performed by human beings or, increasingly, to tasks that would otherwise be impossible. Although the term mechanization is often used to refer to the simple replacement of human labour by machines, automation generally implies the integration of machines into a self- governing system. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Control It is perhaps correct to expect that the learner for this course has already been exposed to a course on Control Systems, which is typically introduced in the final or pre-final year of an undergraduate course in Engineering. The word control is therefore expected to be familiar and defined as under. Definition: Control is a set of technologies that achieves desired patterns of variations of operational parameters and sequences for machines and systems by providing the input signals necessary. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Automation & Control It is important at this stage to understand some of the differences in the senses that these two terms are generally interpreted in technical contexts and specifically in this course. These are given below. 1. Automation Systems may include Control Systems but the reverse is not true. Control Systems may be parts of Automation Systems. 2. The main function of control systems is to ensure that outputs follow the set points. However, Automation Systems may have much more functionality, such as computing set points for control systems, monitoring system performance, plant startup or shutdown, job and equipment scheduling etc. Automation Systems are essential for most modern industries. It is therefore important to understand why they are so, before we study these in detail in this course. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Industrial Automation Industrial automation is the use of various control devices like personal computers (PC’s)/programmable logic controller (PLC’s)/DCS, used to have control on various operations of an industry without significant intervention from humans and to provide automatic control performance. In industries, control strategies use a set of technologies which are implemented to get the desired performance or output, making the automation system most essential for industries. Industrial automation involves usage of advanced control strategies like cascade controls, modern control hardware devices as PLC’s, sensors and other instruments for sensing the control variables, signal conditioning equipment to connect the signals to the control devices, drives and other significant final control devices, standalone computing systems, communication systems, alarming and HMI (Human Machine Interface) systems. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Advantages of Industrial Automation  Lower operating cost: Industrial automation eliminates healthcare costs and paid leave and holidays associated with a human operator. Further, industrial automation does not require other employee benefits such as bonuses, pension coverage etc. Above all, although it is associated with a high initial cost it saves the monthly wages of the workers which leads to substantial cost savings for the company. The maintenance cost associated with machinery used for industrial automation is less because it does not often fail. If it fails, only computer and maintenance engineers are required to repair it.  High productivity: Although many companies hire hundreds of production workers for a up to three shifts to run the plant for the maximum number of hours, the plant still needs to be closed for maintenance and holidays. Industrial automation fulfills the aim of the company by allowing the company to run a manufacturing plant for 24 hours in a day 7 days in a week and 365 days a year. This leads to a significant improvement in the productivity of the company.  High Quality: Automation alleviates the error associated with a human being. Further, unlike human beings, robots do not involve any fatigue, which results in products with uniform quality manufactured at different times. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Advantages of Industrial Automation  High flexibility: Adding a new task in the assembly line requires training with a human operator, however, robots can be programmed to do any task. This makes the manufacturing process more flexible.  High Information Accuracy: Adding automated data collection, can allow you to collect key production information, improve data accuracy, and reduce your data collection costs. This provides you with the facts to make the right decisions when it comes to reducing waste and improving your processes.  High safety: Industrial automation can make the production line safe for the employees by deploying robots to handle hazardous conditions. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Disadvantage of Industrial Automation High Initial cost: The initial investment associated with the making the switch from a human production line to an automatic production line is very high. Also, substantial costs are involved in training employees to handle this new sophisticated equipment. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Part 3 Introduction on Industrial Automation Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Role of automation in industry  Manufacturing processes, basically, produce finished product from raw/unfinished material using energy, manpower and equipment and infrastructure.  Since an industry is essentially a “systematic economic activity”, the fundamental objective of any industry is to make profit.  Roughly speaking, Profit = (Price/unit – Cost/unit) x Production Volume (1) So profit can be maximized by producing good quality products, which may sell at higher price, in larger volumes with less production cost and time. Fig 1.2 shows the major parameters that affect the cost/unit of a mass- manufactured industrial product. Fig. 1.2 The Components of per unit Manufacturing Cost Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Role of automation in industry Automation can achieve all these in the following ways,  Figure 1.4 shows how overall production time for a product is affected by various factors. Automation affects all of these factors. Firstly, automated machines have significantly lower production times. For example, in machine tools, manufacturing a variety of parts, significant setup times are needed for setting the operational configuration and parameters whenever a new part is loaded into the machine. This can lead to significant unproductive for expensive machines when a variety of products is manufactured. In Computer Numerically Controlled (CNC) Machining Centres set up time is reduced significantly with the help of Automated Tool Changers, Automatic Control of Machines from a Part Program loaded in the machine computer. Such a machine is shown in Figure 1.3. The consequent increase in actual metal cutting time results in reduced capital cost and an increased volume of production. Fig. 1.3 A CNC Machine with an Automated Tool Changer and the Operator Console with Display for Programming and Control of the Machine Fig. 1.4 The major factors that contribute to Overall Production Time Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Role of automation in industry  Industrial Products go through their life cycles, which consists of various stages.  Automation also reduces the over all product life cycle i.e., the time required to complete (i) Product conception and design (ii) Process planning and installation (iii) Various stages of the product life cycle are shown as in Figure 1.5. Fig. 1.5 A Typical Industrial Product Life Cycle Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Role of automation in industry Total Automation Quality Manufacturing Competitiveness Solution Productivity Plant Cost Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Types of production systems Major industrial processes can be categorized as follows based on their scale and scope of production. A. Continuous flow process: Manufactured product is in continuous quantities i.e., the product is not a discrete object. Moreover, for such processes, the volume of production is generally very high, while the product variation is relatively low. Typical examples of such processes include Oil Refineries, Iron and Steel Plants, Cement and Chemical Plants. B. Mass Manufacturing of Discrete Products: Products are discrete objects and manufactured in large volumes. Product variation is very limited. Typical examples are Appliances, Automobiles etc. C. Batch Production: In a batch production process the product is either discrete or continuous. However, the variation in product types is larger than in continuous-flow processes. The same set of equipment is used to manufacture all the product types. However for each batch of a given product type a distinct set of operating parameters must be established. This set is often referred to as the “recipe” for the batch. Typical examples here would be Pharmaceuticals, Casting Foundries, Plastic molding, Printing etc. D. Job shop Production: Typically designed for manufacturing small quantities of discrete products, which are custom built, generally according to drawings supplied by customers. Any variation in the product can be made. Examples include Machine Shops, Prototyping facilities etc. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Types of production systems The previous types of production systems are shown in Figure 1.6 categorized according to volumes of production and variability in product types. In general, if the quantity of product is more there is little variation in the product and more varieties of product is manufactured if the quantity of product is lesser. Fig. 1.6 Types of Production Systems Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Types of Automation Systems Automation systems can be categorized based on the flexibility and level of integration in manufacturing process operations. Various automation systems can be classified as follows A. Fixed Automation: It is used in high volume production with dedicated equipment, which has a fixed set of operation and designed to be efficient for this set. Continuous flow and Discrete Mass Production systems use this automation. e.g. Distillation Process, Conveyors, Paint Shops, Transfer lines etc. A process using mechanized machinery to perform fixed and repetitive operations in order to produce a high volume of similar parts. B. A. Programmable Automation: It is used for a changeable sequence of operation and configuration of the machines using electronic controls. However, non-trivial programming effort may be needed to reprogram the machine or sequence of operations. Investment on programmable equipment is less, as production process is not changed frequently. It is typically used in Batch process where job variety is low and product volume is medium to high, and sometimes in mass production also. e.g. in Steel Rolling Mills, Paper Mills etc. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Types of Automation Systems Automation systems can be categorized based on the flexibility and level of integration in manufacturing process operations. Various automation systems can be classified as follows C. Flexible Automation: It is used in Flexible Manufacturing Systems (FMS) which is invariably computer controlled. Human operators give high-level commands in the form of codes entered into computer identifying product and its location in the sequence and the lower level changes are done automatically. Each production machine receives settings/instructions from computer. These automatically loads/unloads required tools and carries out their processing instructions. After processing, products are automatically transferred to next machine. It is typically used in job shops and batch processes where product varieties are high and job volumes are medium to low. Such systems typically use Multi purpose CNC machines, Automated Guided Vehicles (AGV) etc. D. Integrated Automation: It denotes complete automation of a manufacturing plant, with all processes functioning under computer control and under coordination through digital information processing. It includes technologies such as computer-aided design and manufacturing, computer-aided process planning, computer numerical control machine tools, flexible machining systems, automated storage and retrieval systems, automated material handling systems such as robots and automated cranes and conveyors, computerized scheduling and production control. It may also integrate a business system through a common database. In other words, it symbolizes full integration of process and management operations using information and communication technologies. Typical examples of such technologies are seen in Advanced Process Automation Systems and Computer Integrated Manufacturing (CIM) Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Types of Automation Systems As can be seen from above, from Fixed Automation to CIM the scope and complexity of automation systems are increasing. Degree of automation necessary for an individual manufacturing facility depends on manufacturing and assembly specifications, labor conditions and competitive pressure, labor cost and work requirements. One must remember that the investment on automation must be justified by the consequent increase in profitability. To exemplify, the appropriate contexts for Fixed and Flexible Automation are compared and contrasted. Fixed automation is appropriate in the following circumstances. a) Low variability in product type as also in size, shape, part count and material b) Predictable and stable demand for 2 to 5 years time period, so that manufacturing capacity requirement is also stable c) High production volume desired per unit time d) Significant cost pressures due to competitive market conditions. So automation systems should be tuned to perform optimally for the particular product. Flexible automation, on the other hand is used in the following situations. a) Significant variability in product type. Product mix requires a combination of different parts and products to be manufactured from the same production system b) Product life cycles are short. Frequent upgradation and design modifications alter production requirements c) Production volumes are moderate, and demand is not as predictable Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Part 4 The Functional Elements of Industrial Automation Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Introduction  An Industrial Automation System consists of numerous elements that perform a variety of functions related to Instrumentation, Control, Supervision and Operations Management related to the industrial process.  These elements may also communicate with one another to exchange information necessary for overall coordination and optimized operation of the plant/factory/process.  Following, we classify the major functional elements typically found in IA systems and also describe the nature of technologies that are employed to realize the functions. Sensors HMI Actuators Display & alarm Controllers Communication Protocol Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Sensing and Actuation Elements These elements interface directly and physically to the process equipment and machines. The sensing elements translate the physical process signals such as temperature, pressure or displacement to convenient electrical or pneumatic forms of information, so that these signals can be used for analysis, decisions and finally, computation of control inputs. These computed control inputs, which again are in convenient electrical or pneumatic forms of information, need to be converted to physical process inputs such as, heat, force or flow-rate, before they can be applied to effect the desired changes in the process outputs. Such physical control inputs are provided by the actuation elements. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Industrial Sensors and Instrument Systems Scientific and engineering sensors and instrument systems of a spectacular variety of size, weight, cost, complexity and technology are used in the modern industry. However, a close look would reveal that all of them are composed of a set of typical functional elements connected in a specified way to provide signal in a form necessary. The various tasks involved in the automation systems. Fig 1.7 below shows the configuration of a typical sensor system. Fig. 1.7 Functional configuration of a typical sensor system Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Industrial Actuator Systems Actuation systems convert the input signals computed by the control systems into forms that can be applied to the actual process and would produce the desired variations in the process physical variables. In the same way as in sensors but in a reverse sense, these systems convert the controller output, which is essentially information without the power, and in the form of electrical voltages (or at times pneumatic pressure) in two ways. Firstly it converts the form of the variable into the appropriate physical variable, such as torque, heat or flow. Secondly it amplifies the energy level of the signal manifold to be able to causes changes in the process variables. Thus, while both sensors and actuators cause variable conversions, actuators are high power devices while sensors are not. It turns out that in most cases, actuators are devices that first produce motion from electrical signal, which is then further converted to other forms. Based on the above requirement of energy and variable conversion most actuation systems are structured as shown in Fig. 1.8. Fig. 1.8 Functional configuration of a typical actuator system Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. What is a controller ? A controller is a device which monitors and affects the operational conditions of a given system. Anything which is controllable must be measurable and comparable. Comparator compares a given value with a set value. The simplest controller is a comparator. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Types of controllers Controllers can be categorized based on  Parameter Or physical quantity they are controlling Examples Temperature controller, RPM controller, Pressure controller etc  The manner in which they are controlling the Physical quantity Proportional controller P Proportional Integral controller PI Proportional Integral derivative Controller PID ON –OFF (Bang Bang) Controller Analog or Digital controller  The device used for controlling { PLC , PC ( computer), Digital circuits using comparators } Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Selection Criteria for Controller  Speed  Memory  I/O handling capability  Communication capability  Built in Features in Built ADC in built DAC Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Common Examples of Automation Day to Day life Industry  ATM  Painting Robots in the automobile industry  Starting of the vehicle  Soldering Machines  Automatic washing Machine  DCS Distributed Control Systems  Electrically driven Pump  SCADA (supervisory control and data  UPS, Canopy (power supply acquisition) Back up) Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Technologies involved in the working of ATM  Computer and Electronics (HMI)  Communication using Transmission Control Protocol/Internet Protocol (TCP/IP) - ( Communication with server)  Sensors: Magnetic sensor to read data from the card Camera ,Timer  Electromechanical solenoids and actuators (for counting currency accurately , and giving the same to user)  Printer … Printing technology Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Why Automation is required ?  Increase in comfort.  More safety.  Improve the quality and precision.  To do the job for which human beings will not have the capacity.  To avoid monotonous (boring) work. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Part 5 Industrial Control Systems Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. The Architecture of Elements: The Automation Pyramid Industrial automation systems are very complex having large number of devices with confluence of technologies working in synchronization. In order to know the performance of the system we need to understand the various parts of the system. Industrial automation systems are organized hierarchically as shown in the following figure. Fig. 1.10 Automation pyramid Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. The Architecture of Elements: The Automation Pyramid Various components in an industrial automation system can be explained using the automation pyramid as shown above. Here, various layers represent the wideness ( in the sense of no. of devices ), and fastness of components on the time-scale. Sensors and Actuators Layer: This layer is closest to the proceses and machines, used to translate signals so that signals can be derived from processes for analysis and decisions and hence control signals can be applied to the processes. This forms the base layer of the pyramid also called ‘level 0’ layer. Automatic Control Layer: This layer consists of automatic control and monitoring systems, which drive the actuators using the process information given by sensors. This is called as ‘level 1’ layer. Supervisory Control Layer: This layer drives the automatic control system by setting target/goal to the controller. Supervisory Control Fig. 1.10 Automation pyramid looks after the equipment, which may consist of several control loops. This is called as ‘level 2’ layer. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. The Architecture of Elements: The Automation Pyramid Various components in an industrial automation system can be explained using the automation pyramid as shown above. Here, various layers represent the wideness ( in the sense of no. of devices ), and fastness of components on the time-scale. Production Control Layer: This solves the decision problems like production targets, resource allocation, task allocation to machines, maintenance management etc. This is called ‘level 3’ layer. Enterprise control layer: This deals less technical and more commercial activities like supply, demand, cash flow, product marketing etc. This is called as the ‘level 4’ layer. Fig. 1.10 Automation pyramid Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Summary  Automation has a wide spread presence in almost every industry and homes  Automation systems consist of sensors controllers and an actuators.  There are variety of sensors depending on the physical quantity to be controlled. In power system the most common sensors are CTs and PTs  The simplest type of controller is a comparator and the advanced controllers are programmable and are capable of handling number of inputs and outputs. Microcontrollers and computers are widely used these days in the automation.  Controllers must be programmed for the given sets of Inputs and outputs to get the desirable results. All the intelligence is embedded in the controller after programming in higher level languages and using suitable compilers.  There are different types of actuators controlling linear and rotational motion and the most common actuators are Solenoids ,Relays and Motors  Communication plays a very important role in the Automation system and depending on the application a particular Protocol is used. Internet technology has revolutionized the automation. Automation has many advantages including making our lives comfortable and enable human beings to do the things which otherwise would have been impossible to do manually with same efficiency and accuracy.  Automation changes the nature of jobs and demands new skills and it is a myth that it leads to unemployment…It has shifted the focus from Manufacturing industries to the Service related industries Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. ENMC5371: Industrial Automation Chapter 1: Introduction to Industrial Automation Sensors and Measurement Systems Dr. Mamon M. Horoub Assistant Professor, Mechatronics Department Copyright © 2020 by Mamon Horoub. All rights reserved. Objectives Recap 1 of the 2 Definitions Previous 3 Introduction on Industrial Automation Class 4 The Functional Elements of Industrial Automation Agenda 5 Industrial Control Systems Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Today’s 1 Introduction Class Agenda 2 Sensors Types Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Part 1 Introduction Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Sensor Applications o Measurement instruments: physical, health, … (Temp, Pressure, humidity, V, P …) o Safety Systems (Cars, Health …) o Process / Condition monitoring (Home, Industry, envir.) o Control Systems, Automation (Industry) Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Sensor Applications (Health) Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Sensor Applications (Cars) Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Sensor Applications (Home) Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Sensor Applications (Industry) Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Sensor Applications (Devices) Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Instrumentation Systems Physical Measurement phenomenon Output Signal Primary Conditioning Other Signal Circuits Processing Sensor Measurement output: Interaction between a sensor and the environment surrounding the sensor Compound response of multiple inputs Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Measurement Errors Types System errors: imperfect design of the measurement setup and the approximation, can be corrected by calibration. Random errors: variations due to uncontrolled variables. Can be reduced by averaging. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Sensor vs Transducer  A sensor is used to detect a physical parameter in one form and report it in another form of energy, often electrical signal.  A transducer is a device that converts a signal in one form of energy to another form of energy (e.g. microphone, speaker).  An actuator accepts energy and produces movement (action, switch, contact …). Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Sensors Examples Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Sensors Examples Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Sensors Examples Strain gauge Displacement, position Thermistor, RTD Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Sensor Characteristics Accuracy: error (difference) between the result of a measurement and the true value being measured. Precision/Repeatability: the ability of the sensor to output the same value for the same input over a number of trials (how close). Precise, Not Precise, Precise, Not Accurate Accurate (average) & Accurate Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Sensor Characteristics Resolution: the smallest increment of a measurement that a device can make. True value measurement Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Sensor Characteristics Sensitivity: Ratio between the change in the output signal (Response) to a small change in input physical signal (measurand). dR S= dM Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Sensor Characteristics Span or range: of the Instrument is the difference between the upper and the lower limits of operation span = Upper – Lower Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Sensor Linearity Linearity: the deviation of the output output from a best-fit straight factual line for a given range of the sensor charac. ideal input Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Other Sensor Characteristics Dynamic Range: the ratio of maximum recordable input amplitude to minimum input amplitude, i.e. D.R. = 20 log (Max. Input Ampl./Min. Input Ampl.) dB Transfer Function: The relationship between physical input signal and electrical output signal, which may constitute a complete description of the sensor characteristics. Bandwidth: the frequency range between the lower and upper cutoff frequencies, within which the sensor transfer function is constant gain or linear. Noise: random fluctuation in the value of input that causes random fluctuation in the output value Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Other Sensor Characteristics Operating Principle: Embedded technologies that make sensors function, such as electro-optics, electromagnetic, piezoelectricity, active and passive ultraviolet. Size: The physical volume of sensors. Data Format: The measuring feature of data in time; continuous or discrete/analog or digital. Intelligence: Capabilities of on-board data processing and decision- making. Active versus Passive Sensors: Capability of generating vs. just receiving signals. Physical Contact: The way sensors observe the disturbance in environment. Environmental durability: will the sensor robust enough for its operation conditions Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Sensor Characteristics 1.0x10-8 5.0x10-9 I (A) 0.0 -5.0x10-9 -1.0x10-8 -0.6 -0.4 -0.2 0.0 0.2 0.4 0.6 VDS (mV) Each instrument has finite dynamic range. Noise limits the accuracy Beware of saturation and too small signals! and resolution. Beware Linearity is an idealization. Know the range of too small signals! where it works! Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Sensor Specification Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Measurement System design  Active sensors can have an output voltage (thermocouple) or current (photodiode, solar cell).  Passive sensors (resistive) must be excited by a voltage or current bias to get a signal output.  Output signals may require further processing circuits (amplifier, filter, A/D converter , ) Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Measurement System design Bias V, I Processing: Amplify, Passive Sensor Filter, Convert , Active Sensor Passive sensors require external excitation using a voltage or current source in addition to other processing steps (amplify, filter, ) Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Measurement System design: Challenges Select appropriate sensor Specify Instrument Required Characteristics Identify environmental conditions Identify list of alternative solutions (processing, circuits …) Study reliability and consistency after installation. Transmission to different location (wired, wireless, RF, Optical …) Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Measurement System Design: Example Actuator Conditioning circuit Sensor http://www.personal.psu.edu/ked2/EE210/Temperature%20... Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Instrument calibration Calibration or gain error. Offset: This is common cause of Instrument has to be errors in DC measurements. One calibrated vs known standard should know what to be called zero. or at least vs another Beware of the drifts! reasonably good instrument Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Part 2 Sensor Types and Classifications Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Sensor Types Proximity – Mechanical – Optical – Inductive/Capacitive Position/Velocity – Potentiometer – LVDT (https://www.youtube.com/watch?v=s2o600RiEGU) – Encoders – Tachogenerator Force/Pressure Vibration/acceleration Temperature Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Mechanical Proximity Switches Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. When to Use Mechanical Proximity Switches Where physical contact is possible Where definitive position is required In operation-critical or safety-critical situations Where environment conditions preclude The use of optical or inductive sensors Applications and Use of Mechanical Proximity Switches Easy to integrate into machinery of all types Requires contact (thus wear) Range of voltages: DC 0-1000V, AC, etc. Very robust (explosion proof if required) Usually used as: – Limit switch – Presence/absence indicator – Door closed/open Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Optical Proximity Sensors Consist of a light source (LED) and light detector (phototransistor) Modulation of signal to minimize ambient lighting conditions Various models: 12-30V DC, 24-240V AC, power Output: TTL 5V, Solid-state relay, etc. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Optical Proximity Sensors: Operational Modes Through Beam: – Long range (20m) – Alignment is critical ! Retro-reflective – Range 1-3m – Popular and cheap Diffuse-reflective – Range 12-300mm – Cheap and easy to use Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Optical Proximity Sensors: Example Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. When to use an Optical Proximity Sensor Pros – Non-contact, no moving parts, small. – Fast switching, no switch bounce. – Insensitive to vibration and shock – Many configurations available Cons – Alignment always required – Can be blinded by ambient light conditions (welding for example) – Requires clean, dust and water free, environment Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. When to use an Optical Proximity Sensor Stack height control/box counting Fluid level control (filling and clarity) Breakage and jam detection And many others… http://www.sick.de/english/products/products.htm http://content.honeywell.com/sensing/prodinfo/ Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Ultrasonic Proximity Sensors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. When to use Ultrasonic Sensors Provide range data directly Level monitoring of solid and liquids Approach warning (collisions) Can (usually) work in heavy dust and water Ambient noise is potentially an issue Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Inductive and Capacitive Proximity Sensors  Inductive sensors use change in local magnetic field to detect presence of metal target  Capacitive Sensors use change in local capacitance caused by non-metallic objects  Generally short ranges only  Regarded as very robust and reliable Inductive Capacitive Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Position and Velocity Sensors  Position and velocity measurement is often required in feedback loops  For positioning, and velocity control  Position measurement: – Potentiometers – LVDT – Encoders  Velocity Measurement: – Tachometer Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Potentiometers Wirewound – Wiper slides along coil of Ni-chrome wire – Wire tends to fail, temperature variations Cermet – Wiper slides on conductive ceramic track – Better than wire inmost respects Plastic film – High resolution – Long life and good temperature stability Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Force and Pressure Force and Pressure generally measured indirectly through deflection of an alternate surface. Mechanism include: – Physical motion and measurement using (eg) an LVDT – Strain gauges (metal that changes resistance when stressed) – Piezo electric materials that generate a current when deformed Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Force and Pressure Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Force and Pressure Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Force and Pressure Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Acceleration Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Acceleration Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Acceleration Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Acceleration Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Temperature Sensor Types  Expansion thermometers (Mercury, Alcohol based)  Thermocouples  RTDs (Resistive Temp Devices)  Thermistors  Integrated Circuits  Infrared thermometers  Bimetals Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Thermocouple  The physical basis of thermocouples was established by Thomas Johann Seebeck in 1821  The principle of operation is also called thermoelectric effect.  He discovered that a conductor generates a voltage when it is subjected to a temp gradient.  A thermocouple is created whenever two dissimilar metals touch at one end and voltage is measured between the other two ends.  The measured voltage is the difference between the Seebeck voltage across each conductor, represented by the equation ∆V=S ∆T, where ∆V is the change in voltage, S is the Seebeck coefficient, and ∆T is the change intemperature. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Thermocouple If metals Aand B are similar Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Thermocouple Type 1 http://www.wealthy.co.th/Thermocouple.php Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Thermocouple Type 2 http://www.iasb.com.my/ Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Types T, J, and K are most commonly used thermocouples Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Thermocouple: Standards Thermocouple wiring is color coded by thermocouple types. Different countries utilize different colo coding. Jacket coloring is sometimes a colored stripe instead of a solid color as shown. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Thermocouple: Advs, Disadvs Advantages Disadvantages Extremely Low Self Powered (does Voltage output not require a current (mV) or voltage source) Rugged Not very stable Cost depends on material.(J, K Needs a inexpensive), reference point Simple Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. RTD, Thermistor & Material Resistivity Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. RTD, Technology  How it works: ◦ Utilizes the fact that resistance of a metal changes with temperature.  Make up: ◦ Traditionally made up of platinum, nickel, iron or copper. ◦Temperature range: From about -196°C to 482°C. Thin Film RTD Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. RTD: Advs, Disadvs Advantages Disadvantages Expensive (Platinum), Stable other materials cheaper External source Very accurate required (V, I) Good linearity Low sensitivity Self heating error Less rugged than TC Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Thermistor  How it works: ◦ Like the RTD a thermistor uses the fact that resistance of a material changes with temperature.  Types and Materials: ◦ NTC (Negative Temp Coef.): Ceramic semiconductors ◦ PTC (Positive TC): Polycrystalline Ceramics.  Temperature Range: ◦ About -45°C - 150°C Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Thermistor: Adv, Disadv Advantages Disadvantages Good sensitivity Nonlinear Accurate but less Limited range than RTD Needs an external Quick response source (V,I) Least expensive Self heating error Fragile Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Sensor Characteristic Curves 3.50 135.00 3.00 130.00 2.50 Thermocouple RTD Resistance(Ω) Voltage (mV) 125.00 2.00 120.00 1.50 115.00 1.00 0.50 110.00 0.00 105.00 -0.50 100.00 0 10 20 30 40 50 60 70 80 90 0 10 20 30 40 50 60 70 80 90 Temperature(∘C) Temperature (∘C) 120.00 100.00 Resistance (KΩ) 80.00 Thermistor 60.00 40.00 20.00 0.00 0 10 20 30 40 50 60 70 80 90 Temperature (∘C) Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Temp Sensors: Comparison Characteristic Thermocouple RTD Thermistor Active/passive Active (Vo) Passive (R) Passive (R) Material Metals: Platinum, Metals: Platinum, Ceramic Constantan, Rhodium … Nickel, copper … Semiconductors Sensitivity Low 10-70uV/oC low highest Accuracy Least accurate Most accurate Accurate Errors Reference required Self heating Self heating Linearity Nonlinear Most Linear Nonlinear Stability Least stable Most stable Stable Ruggedness Rugged Fragile Fragile Response Slow Slow Fast Range oC Best (-200 to 3000) -200 to 850 -45 to 150 Cost Depends on mat Expensive (Pt) Least Expensive Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Diff. Temp. Sensor (IR Temp Sensors)  Optical pyrometer ◦ Body of interest must emit in the visible ◦ Ancient technology ◦ Temperature measured must be at least 650 C ◦ Essentially no upper limit to capability  Infrared Thermometers ◦ “Quantum detectors”  Basically solar cells in the IR  Fit blackbody spectrum ◦ “Thermal detectors”  Bolometers, pyroelectric detectors  Radiation causes temperature of detector to rise Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. IR Temp Sensors: Spectrum Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. IR Temp Sensors: Non contact Hot spot detection in electric wiring Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. IR Temp Sensors: Specs Specifications: Model IR1200 IR1800 IR3000 Range -25 to 1200℃ 400-1800℃ 500-3000℃ +/-1% or +/- 1℃ whatever greaterunder Accuracy surrounding temperature of 23℃ + 5℃ Resolution 1℃ or 1℉ D:S 80 : 1 120:1 120:1 Spectral Response 8-14um 2.1-2.4um Response Time < / = 200ms Lighting mode Coaxial laser Telescope ℃ / ℉ switch Yes Display 4 digital display High / low alarm Yes Power 9V battery Size 185 x 170 x 50 185 x 200 x 50mm Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Bimetallic Strip Thermometers Heat induces bending  Convenient which can close or open  Inexpensive a switch actuator  Dial  Poor accuracy and precision  Great for food preparation Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Sensors Summary  There are many types of sensors available today  Selecting the right sensor is a critical part of the design cycle  Requires an understanding of – Type of motion – Precision of motion – Magnitude of motion – Operating conditions Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. ENMC5371: Industrial Automation Chapter 1: Introduction to Industrial Automation Actuators Dr. Mamon M. Horoub Assistant Professor, Mechatronics Department Copyright © 2020 by Mamon Horoub. All rights reserved. Recap of the 1 Introduction Previous 2 Sensors Types Class Agenda Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Today’s 1 Introduction Class Agenda 2 Motors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Part 1 Introduction Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Definition What is an actuator? o An actuator is a device which transform an input signal (mainly an electrical signal) into motion, thus acting upon a physical System (environment). o Most engineers select actuators, do not design them. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Part 2 Motors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Types of Motors 1. DC Motors 2. AC Motors 3. Stepper Motors 4. Servo Motors 5. Linear Motors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. DC Motors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. DC Motors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. DC Motors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. DC Motors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. DC Motors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. DC Motors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. DC Motors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. DC Motors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. DC Motors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. AC Motors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. AC Motors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. AC Motors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Stepper Motors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Stepper Motors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Stepper Motors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Stepper Motors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Stepper Motors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Stepper Motors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Stepper Motors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Servo Motors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Servo Motors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Solenoid Motors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Speed Conversion Drives Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Motors Summary Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Motors Summary Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. ENMC5371: Industrial Automation Chapter 1: Introduction to Industrial Automation Electro Hydraulic & Pneumatic Systems Dr. Mamon M. Horoub Assistant Professor, Mechatronics Department Copyright © 2020 by Mamon Horoub. All rights reserved. Recap of the 1 Introduction Previous Class 2 Motors Agenda Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Today’s 1 Electro Hydraulic Systems Class Agenda 3 Electro Pneumatic Systems Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Part 1 Electro Hydraulic Systems Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. System’s Overview Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Mixed Mechatronics Systems 1. Mechatronic systems are of the mixed type, e.g., electromechanical, electro- hydraulic, electro-pneumatic… 2. Each subsystem within a mixed system can be modelled as single discipline system first 3. Power transformation among various subsystems are used to integrate them into the entire system 4. Overall mathematical model may be assembled into a system of equations, or a transfer function Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Hydraulic Systems  The term hydraulics is defined as the science that studies the behavior of fluids which > stand still (hydrostatics) or > move (hydrodynamics).  In a mechanical engineering sense, the term hydraulics is associated with the area of fluid studies that are concerned with transmitting power and force by fluid means. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Conductors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Conductors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Indicating Devices: Sensors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Indicating Devices: Sensors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Indicating Devices: Sensors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Indicating Devices: Sensors Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Part 2 Electro Pneumatic Systems Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. System’s Overview Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Mixed Mechatronics Systems 1. Mechatronic systems are of the mixed type, e.g., electromechanical, electro- hydraulic, electro-pneumatic… 2. Each subsystem within a mixed system can be modelled as single discipline system first 3. Power transformation among various subsystems are used to integrate them into the entire system 4. Overall mathematical model may be assembled into a system of equations, or a transfer function Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Pneumatic Systems 1. Pneumatics refers to the technology of using pressurized gas (as the working medium) to produce mechanical motion. 2. Compressed atmospheric air is used after its moisture removed and a small quantity of oil is added at the compressor, to avoid corrosion of mechanical components and to lubricate them. 3. In pneumatic systems, force is produced by air pressure acting on the surface of a piston or valve. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Compressor Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Transmission Lines Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Transmission Lines Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. References 1. Course Textbooks 2. Kharagpur Notes Version 2 EE IIT 3. Hawwa Lecture Notes, Mechatronics Course, KFUPM 4. Google Information Dr. Mamon Horoub Copyright © 2020 by Mamon Horoub. All rights reserved. Dr. Mamon Horoub