ĐẠI HỌC BÁCH KHOA HÀ NỘI

HANOI UNIVERSITY OF SCIENCE AND TECHNOLOGY

INTRODUCTION TO MECHATRONICS

Lecturer: Dr. Ly Hoang Hiep

School of Mechanical Engineering- HUST
Contents
Chapter 1. Introduction to mechatronics

Chapter 2. Sensors

Chapter 3. Actuators

Chapter 4. Control system

Chapter 5. Machine visions

Chapter 6. Signal Processing

Chapter 7. Industrial Robotics
Chapter 8. Software
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What is control?

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Example 1: How to drive at a steady speed of 45km/h?

45 km/h

Ø Increase the throttle to a speed of nearly 45 km/h => Impact on the system
Ø Observe speedometer=> Collect information
Ø Brain control (Information Processing):
Ø If v < 45km/h, Throttle Increase=> Impact on the system
Ø If V>45km/h, reduce throttle, apply the brakes=> Impact on the
system
à As a result, the car runs at a speed ”near" to 45km/h 1
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Example 2: How to control the furnace to a suitable Thermometer
temperature of 1000°C?
tion
c

Proc rmatio
o lle
nC

Info
Observe the
tio

essi
a
thermometer or m

ng o
Inf

f
n
Information Adjusting
Processing the manual
Valve
manual
Valve Heat
Impact on the system Furnace

=> Control is understood as process of information collection and

processing and impact on the system in order to meet the
predetermined purpose. 1
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Relating control to human activity

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4.1. Automation and control equipment
q Automatic Control
Controller Thermal
Sensor
=> Automatic
Control: is a
process of control
without human
intervention.

Control Valve
Heat Furnace

Automatic control of heat furnace temperature

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4.1. Control device (set)

q A control device or controller is a device that monitors and acts

on the conditions of a given kinematic system.

q A control system: is a system whose output can be managed,

controlled, or adjusted by changing the input.

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q Basic Components of a Control System

Input signal Output signal

Control system

Structure of the control system

Mechatronics
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4.2. Classification of control systems
q According to the nature of the signal over time:

+ Continuous System: The input signal, the output signal, and all
the intermediate signals transmitted inside the system are
continuous signals. Continuous systems are described by
differential equations.
+ Discrete systems: There is a point in the system where the signal
is discrete. Discrete systems are described by the equation of
misfraction.
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4.2. Classification of control systems
q According to the static characteristics of the
elements in the system

+ Linear System: Linear systems follow specific rules of uniformity

and aggregation that exhibit predictable responses to input changes and
maintain a consistent relationship between input and output within
defined limits.
+ Nonlinear Systems: The nonlinear control system, on the contrary,
does not follow these simple rules, which represents unpredictable
behavior, especially exceeding certain thresholds.
+ While linear systems adhere to consistent patterns, nonlinear systems
exhibit complex and unexpected behaviors, deviating from the simple
relationship between input and output.
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4.2. Classification of control systems
q By the number of channels in the system
+ Single Input – One Output SISO (Single Input – Single Output)
system.
+ Multi Input – Multiple Output MIMO (Multi Input – Multi Output)
system.
q By time
+ Immutable system over time: The coefficient of the
differential/differential equation describes the constant system.
+ The system changes over time: The coefficient of the
differential/differential equation describes how the system changes
over time.
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q Classification by control strategy
+ Stabilization Control: If the standard signal x(t) = const, we call it
stabilization control.
+ Programmatic Control: The signal to x(t) is a function that changes
over time but is known in advance.
+ Tracking control: The input signal x(t) is a function that is not known
ahead of time.

q According to the influence of interference/noise

+ Normal System: is a system in which the influence of interference is not

very large and the quality of the system does not exceed the allowable range
+ Adaptive system: The system is capable of automatically adapting to
changes in environmental conditions and characteristics of the control object
by changing the parameters and structure of the control device.
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4.3. Basic Types of Controls
q Open-loop control / Feedforward
Definition: An open-loop control system is a system whose
control impact (input signal) r(t) is independent of the output
signal c(t).

Advantages: Simple system, fast response. Compact system

structure, no need for measuring sensors
Disadvantages: Need a very accurate object model. The
accuracy of the method is not high (noise, changing set signal).
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q Open-loop control – feedforward

Example: A clothes washing machine is an open-loop control system

Control
Set signal Washed clothes
Signal
CONTROL
WASHER
LER u(t) y(t)
r(t)

Open loop control system (washing machine)

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q Closed-loop feedback control system

Definition: A closed-loop control system is a system whose input

depends on the output signal. Closed-loop control systems are also
known as return control systems.
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Advantage: The accuracy is much higher than that of the open-loop
structure. It is anti-interference, follows the change setting signal.
Diverse controller structure.
Disadvantage: need a sensor that accurately measures the output of
the object.

A block diagram depicting a multivariate control system

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Example: Driving Cars
Desired Error Actual
Trajectory Trajectory
Steering
Drive Cars
System

Touch, sight

Car Steering Controls

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Example: CNC machine table control
Open-loop control

Closed-loop control
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Semi-closed loop control

Hybrid Servo System (Dual position feedback).

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4.4. Analog control system
q Continuous Signal (Analog):An analog signal is a type of signal
that changes continuously over time
Ø Signals encountered in nature are
mostly continuous signals: Light,
sound, temperature, pressure, etc.
Ø In almost all applications, both the
plant and the actuators are analog
control systems

Ø Continuous signals are identified with characteristics: amplitude,

frequency cycle, and phase
Ø Standard analog signals in industry include: current of 4 – 20 mA,
0 – 20mA and voltages of 0-10V, 0-5V....
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Example of analog control: Boiler pressure control system.
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q PID Controller
A Proportional Integral Derivative (PID) controller is a generalized control loop
feedback mechanism that is widely used in industrial control systems – PID controllers
are the most used controllers in feedback controllers. The PID controller calculates the
"error" value, which is the difference between the variable parameter measurement
value and the desired set value.
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q PID controller PI – Kp = 1.0

PI – Kp = 4.0, Ki = 1
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q PID tuning
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q PID controller
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q PID controller
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q Autonomous driving car controller
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4.5. Digital control system
q Discrete signal: a discrete signal (in temporal terms) is a signal
that identifies only on a discrete set of time (a set of discrete
moments).
Types of signals in control
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4.5. Digital control system
q Discrete signal: a discrete signal (in temporal terms) is a signal
that identifies only on a discrete set of time (a set of discrete
moments).
Types of signals in control
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4.5. Digital control system
Types of signals in control
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Ø Some important discrete signals
Unit Impulses Unit step
ì0 n ¹ 0 ì0 n < 0
d ( n) = í u ( n) = í
î1 n = 0
î1 n ³ 0

ì1 0 £ n £ N - 1
Complex exponentials RECTN u (n) = RECTN (n) = í
î0 n > N ; n < 0

x ( n) = a n
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Ø Some important discrete signals
Periodic discrete time signal
x(n) = x(n + N ) = x(n + kN )

Remarks: Any discrete signal can represent a formula

+¥
x(n) = å x(k )d (n - k )
k =-¥
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Ø Continuous system

Ø Digital control system

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Ø Digital control system

Ø The Digital control system consists of two basic stages:

+ Discrete : The incoming and outgoing signals are both in a
discrete state in terms of time and level. This stage describes the
digital control devices
+ Continuous : It is the stitch describing the control mass. The
discreteness comes from the continuous state pattern of the object.
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Ø ADC (Analog - Digital Converter): It is a set of equipment used
to "digitize" analog signals. An ADC is an important device in
measurement and microcontrollers.

Analog - digital conversion

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Ø DAC (Digital - Analog Converter): is a set of devices used to
convert digital data into conventional analog data which is voltage
or current proportional to the numerical value.

Signals convert from digital - analog

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Ø Controller devices
Open-source hardware single-board computers

PLC
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Ø Controller devices
Ø Arduino
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Ø Controller devices
Ø Microcontroller
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Ø Controller devices
Ø Microcontroller
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Ø Controller devices
Ø Arduino Alternative
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Ø Controller devices
Ø Microcontroller
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Ø Controller devices
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Ø Controller devices
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Ø Programing languages
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Ø C languages
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Ø C vs C++ languages
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Ø Assembly
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Ø Python
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Ø RUST
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Ø MATLAB
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4.6. Logic Control System
q State logic

Ø Hot/cold, light/dark, beautiful/ugly, yes/no... These are pairs of

opposing states.
Ø On/off, close/off (electrical), start/stop (control), called state
logic.
Ø In mathematics to quantify two opposing states of a thing or
phenomenon, we use two values 0 and 1 called two logical
values
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4.6. Logic Control System
q Logic Level
Ø In digital circuits, is one of VH max
the finite number of states in High Level Logic 1
which a signal can exist VH min
Ø The voltage/current level or Not allowed
state at which the signal can VL max
survive
Low-level logic 0
Ø The status in the digital VL min
circuit is usually ON/OFF
Ø Corresponding binary GND
representation ON = 1
(high); OFF = 0 (low)
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q Logical algebra
Ø Logical variable: is a variable that takes one of the values 0 and
1, x [0,1];
Ø Logical function: A y function = f(x1, x2,... xn) with logical
variables x1, x2, ... xn receives two values 0 or 1 and the y
function also receives only two values 0 or 1, y is called a logical
function.
Single-variable logical functions y = f(x).
Ex: y = f(x) = x
Two-variable logical functions y = f(x1,x2)
Ex: y = f(x1,x2) = x1 + x2

Logical function n variables y = f(x1,x2, …xn)

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q Basic logical functions
Ø NOT negation
'-' or NOT (monolithic math) A 10011010
Expression : Ā or NOT A
Principle: Ā hay NOT A 01100101
The result returns 1 (TRUE) if the input value is 0 (FALSE).
Conversely, the result is 0 (FALSE) if the input value is 1 (TRUE).
Value Tables

Symbol
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q Basic logical functions
Ø AND
Biểu thức : A.B = C or A AND B = C
Principle:
The result returns 1 (TRUE) if and only if all input values are 1
(TRUE).
The result is 0 (FALSE) when any input value has a value of 0
(FALSE).

A 10011010
B 11001001
A . B or A AND B 10001000
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Hàm logic AND
𝑓(𝑥, 𝑦) = 𝑥. 𝑦
Bảng giá trị

Ký hiệu
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Ø OR
Expression: A + B = C or A OR B = C
Principle:
• The result returns 0 (FALSE) if and only if all input values are 0
(FALSE).
• The result is 1 (TRUE) when any input value has a value of 1
(TRUE).

A 10011010
B 11001001
A + B or A OR B 11011011
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Logical functions 𝑓(𝑥, 𝑦) = 𝑥 + 𝑦
Value Tables

Symbol
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4.7. Industrial Control Systems
q Definition
Ø Industrial control systems (ICS) is a general term that
encompasses several types of control systems and related
equipment used for industrial process control.
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q Factory Distributed Control System (DCS) Controllers are
distributed instead of centralized

Sơ đồ cấu trúc của hệ thống điều khiển phân tán

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q Supervisory Control And Data Acquisition (SCADA):
SCADA (Supervisory Control And Data Acquisition) is a
monitoring and data acquisition control system that assists
humans in the process of remote monitoring and control

Hệ thống SCADA chung

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Examples of SCADA systems
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q PLC programmable logic control system:
PLC (Programmable Logic Controller) was introduced in the 1968-
1970s to replace rigid relay logic control systems.
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q PLC programmable logic control system:
Some common PLCs

PLC Siemens PLC Mitsubishi

PLC Omron PLC Allen Bradley

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q PLC programmable logic control system:
Development history of PLC

Ø PLC – Programmable logic controller

Ø PLC was launched in the late 1960s
Ø In 1968 GM Hydramatic (the automatic transmission division
of General Motors) made a request to propose electronic
replacements for rigidly wired relay systems, discrete, bulky
devices.
Ø The first commercially produced PLC by Modicon, called
Modicon 084
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q PLC programmable logic control system:
Development history of PLC

Ø 1990s: Software interfaces with command structures

declined. PLC programmable by block diagram (FBD), state
command line (STL), ladder chart (LAD).
Ø Currently, there are many PLC production companies:
Siemens, Allen Bradley, Omron, Mitsubishi, Sneijder....
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q PLC programmable logic control system:
Advantage:
- Easily change the program as desired
- Implement complex and highly accurate algorithms.
- Compact circuit, easy to store and repair.
- Modular PLC structure, allowing for easy replacement, expansion
of input/output, expansion of other functions
- Good anti-interference ability, completely reliable working in
industrial environment.
- Able to communicate with other smart devices such as computers,
communication networks with other devices.
 Chapter 4.Hệ thống điều khiển
q PLC programmable logic control system:
Disadvantages:
- Hardware costs are high, some companies have to buy more
software for programming.
- Requires users to have high professional qualifications.
 Chapter 4.Hệ thống điều khiển
q PLC programmable logic control system:
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q PLC Programming languages:
 Chapter 4.Hệ thống điều khiển
q PLC Programming languages:
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q PLC programmable logic control system:
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q PLC programmable logic control system: