Mechatronics
Mechatronics
Data is displayed for the academic year: 2025./2026.
Lecturers
Lectures
Seminar
Course Description
The course objective is to get acquainted with modeling, analysis and synthesis of mechatronic systems. After completing the course, students should acquire basic knowledge and skills on the analysis and synthesis of mechatronic products or production processes. This implies knowledge of basic concepts from the mechatronics, knowledge of the basics of modeling and control of mechanical systems, and knowledge of the basic elements of a mechatronic system. The course also aims to introduce students to hydraulic and pneumatic systems, their features and practical application in industry and military engineering. The characteristics of classical, proportional and servo hydraulic and pneumatic systems are explained, and basic components for plant performance are introduced. The subject covers the analysis and control of robotic systems with hydraulic and pneumatic drives, the application of advanced methods in feedback control the fluid technique system and the realization of digital real-time algorithms. It also provides an overview of methods and practical solutions of digital microprocessor control, with reference to digital control elements, microcomputers, connection circuits, sensors and actuators, and time-sensitive (digital) control algorithms. The course objective is also to accompany the theoretical material from lectures with numerous exercises on experimental laboratory systems.
Study Programmes
graduate
Military Engineering - study
Elective group of compulsory subjects
(1. semester)
Learning Outcomes
- Define the principles of the feedforward and feedback control of technical systems
- Explain the model of the mechanical system in a form suitable for control
- Reproduce your knowledge of basic concepts and components of the fluid power system
- Explain the performance of controlled hydraulic and pneumatic systems consisting of the drive part (pumps), the control part (valves), the output part (cylinders and motors), the measuring members (sensors) and the control device,
- Explain the underlying principles and application of control strategies in the open and closed circuit, design and adjust the PID regulator, and apply some advanced methods for control the fluid power system,
- Develop a hydraulic or pneumatic control system (eg, position, speed, or force regulation) in a practical application.
- Analyze the performance and operation of a digital microprocessor based control system
- Explain the basic principles of peripheral units (A / D and D / A converters, digital inputs and outputs, incremental encoder signal counters, PWM signal generators)
- Apply logical control system and digital PID controller in Matlab / Simulink, STEP 7 and C / C ++ environments
Forms of Teaching
Lectures
Exercises
Independent assignments
Laboratory
Exercises
Independent assignments
Laboratory
Week by Week Schedule
- An Introduction to Mechatronics, a Historical Review. Getting acquainted with mechatronic examples: a self-balancing vehicle as an example.
- Mathematical models of technical systems suitable for control. Transfer function, algebra blocks, model in Matlab / Simulink.
- System analysis in the time domain. Responses to standard input functions. Basic response properties. Damping coefficient and time constants.
- The basic regulators, the issue of stability and accuracy. PID regulator, stability and accuracy of the control system.
- Introduction to hydraulics and pneumatic systems, advantages and disadvantages of hydraulic and pneumatic systems. Basic features of classical hydraulics and pneumatic. Basic elements and performance of hydraulic and pneumatic systems. Getting acquainted with the symbols of hydraulic and pneumatic schemes.
- Proportional hydraulic and pneumatic systems. Basic elements and their features. Control of hydraulic and pneumatic systems by means of proportional valves.
- Colloquium 1.
- Servo-hydraulics - basic features. Types of servo power. Control of position, speed and force of hydraulic and pneumatic systems (demonstration work).
- Directions for the development of modern hydraulic and pneumatic systems. Control of robot systems with hydraulic and pneumatic drive.
- Microprocessor structure, microcomputer elements, and instruction set. Industrial programmable logic controllers (PLCs) Siemens family S7-200 / 300/1200
- Input / output concepts, input / output circuits. Executing the control code in the asyncron cycle (scan cycle) and interrupt.
- A / D and D / A transducers, sensors and signal conditioning circuits, actuators. Examples of logic control, sequential control and dynamic system control using microcontrollers.
- Introduction to digital control, structure of digital control system, continuous signal sampling and Z transformation. Digital PID regulator. Analysis of signal and control systems in time-discrete domain, application of Z transformation for management system analysis.
- Additional chapters of mechatronics. Repetition.
- Colloquium 2.
Literature
G. Nikolić, J. Novaković (2003.), Pneumatika i hidraulika II, Školska knjiga
(.), Interni nastavni materijal za predmet,
For students
General
ID 282210
Winter semester
6.0 ECTS
L1 English Level
L1 e-Learning
30 Lectures
45 Seminar