Automotive Mechatronic system .pptx

AUTOMOTIVE
MECHATRONIC
SYSTEM
ZIAD ELKHOLY

What is the H-bridge ?
An H-bridge is a type of electronic circuit that is
commonly used in motor control applications to
control the direction and speed of DC motors. It
consists of four switches (usually transistors),
arranged in an "H" shape, with the motor
connected in the center. The switches can be
turned on and off in various patterns to control the
flow of current through the motor, allowing it to
rotate in either direction or at different speeds.

Types of H-bridge ?
There are different types of H-bridge circuits,
including discrete transistor circuits, integrated
circuits, and microcontroller-based circuits. Some
common components used in H-bridge circuits
include MOSFETs, bipolar junction transistors
(BJTs), diodes, and capacitors.

H-bridge
Components
1- NPN , PNP transistor
2- Diodes
3- Resistors
4- PCB or bread board
‫المناس‬ ‫الترانزيسورات‬ ‫الختيار‬ ‫االزمه‬ ‫الحسابات‬ ‫عمل‬ ‫بيتم‬
‫بة‬
‫وامان‬ ‫بكفائة‬ ‫الدايرة‬ ‫تعمل‬ ‫حتي‬ ‫االزمه‬ ‫والمقاومات‬

When we close the Switch 1 and
Switch 4, open the Switch 2 and
switch 3 The current flow direction
will be like below image
When we close the Switch 2 and
Switch 3, open the Switch 1 and
switch 4 The current flow direction
will be like below image:

Notes about building H-
Bridge
● Make sure you never close both transistors on one
side
● Use catch diodes (or something similar) to prevent
short circuiting
○ There may be delays in switching times
● Also consider
○ Internal resistance of transistor
○ Delay time of transistors (high → low and low
→ high)

There are 2 H-bridges
○ SN754410 - Quadruple half-h bridge driver
○ L298 - Dual full-bridge driver

Signals type
- Analog
- Digital
- Pulse Width Modulation
(PWM)
PWM has main parameter is duty cycle
‫التحكم‬ ‫شغل‬ ‫في‬ ‫جدا‬ ‫مهمه‬
‫سرعة‬ ‫في‬ ‫التحكم‬ ‫زي‬
DC
motor

Transistors
A transistor is a miniature semiconductor that regulates
or controls current or voltage flow in addition
amplifying and generating these electrical signals and
acting as a switch/gate for them. Typically, transistors
consist of three layers, or terminals, of a semiconductor
material, each of which can carry a current.
Typ
e
NPN PNP

Cutoff mode
In this mode, both junctions are reversed
biased so no current flows through the device.
Hence, transistor is in off mode and acts like
open switch. This mode is used for switch OFF
application.
Saturated mode
In this mode, both junctions are forward biased
so current flows through the device. Hence,
transistor is in on mode and acts like closed
switch. This mode is used for switch ON
application.
Active mode
In this mode, one junction (emitter to base) is
forward biased and another junction (collector
to base) is reverse biased. This mode is used
for amplification of current.

1
-
‫بين‬ ‫المطلوب‬ ‫الفولت‬ ‫احدد‬ ‫بحتاج‬
Collector and emitter
‫بتاعي‬ ‫للتطبيق‬ ‫المناسب‬ ‫الترنزستور‬ ‫احدد‬ ‫اقدر‬ ‫عشان‬
2
-
‫بين‬ ‫الفولت‬ ‫احدد‬ ‫وبحتاج‬
Base and Emitter
3
-
‫طاق‬ ‫يولد‬ ‫الترنزستور‬ ‫في‬ ‫المار‬ ‫الكهربي‬ ‫التيار‬
‫حرارية‬ ‫ة‬
‫ع‬ ‫الترنزستور‬ ‫اختيار‬ ‫اثناء‬ ‫مراعتها‬ ‫يجب‬ ‫ولذلك‬ ‫به‬
‫شان‬
‫ميتحرقش‬
𝑷 = 𝑰𝒄 ∗ 𝑽𝑪𝑬 =
𝑽𝑪𝑬
𝟐
𝑹
‫بيتعمل‬ ‫كده‬ ‫عشان‬
Heat
sink
‫عليه‬ ‫تامين‬ ‫كزياده‬ ‫ليه‬
𝑅𝐽𝐶 + 𝑅ℎ𝑎 + 𝑅 < 𝑅𝐽𝐴

𝐼𝐶 = β ∗ 𝐼𝐵
𝐼𝐸 = 𝐼𝐶 + 𝐼𝐵
𝛼 =
𝛽
𝛽 + 1
𝑉𝐶𝐸 = 𝑉𝐶𝐵 + 𝑉𝐵𝐸
𝑉𝐵𝐵 = 𝐼𝐵𝑅𝐵 + 𝑉𝐵𝐸 + 𝐼𝐸𝑅𝐸 = 𝑉𝐸𝐸
𝑉𝐶𝐶 = 𝐼𝐶𝑅𝐶 + 𝑉𝐶𝐸 + 𝐼𝐸𝑅𝐸 + 𝑉𝐸𝐸
𝐼 =
𝑉
𝑅
∆𝑇 = 𝑇𝐽 − 𝑇𝐴 = 𝑃 ∗ 𝑅𝐽𝐴
LAWS

ELECTROMECHANICAL SYSTEM
DC motor

Electromechanical system
Electromechanically systems are systems that combine electrical and
mechanical components to perform a specific function. They are
widely used in various applications
‫تحويل‬ ‫علي‬ ‫تعمل‬ ‫انظمه‬ ‫هي‬
‫حركية‬ ‫لطاقه‬ ‫الكهربية‬ ‫الطاقه‬
‫العكس‬ ‫او‬ ‫كالمواتير‬
‫كالمولدات‬
 These devices are called actuators, and common examples include motors
and solenoids.
 Examples of electromechanical sensors include accelerometers, linear
variable differential transformers (LVDTs), and rotary encoders.

Dc motor Concept
 When a current flows through a wire, it generates a magnetic field
around it. The strength and direction of the magnetic field depend
on the magnitude and direction of the current. If the wire is
placed in an external magnetic field, the magnetic field produced
by the wire interacts with the external magnetic field, resulting in
a force on the wire. This phenomenon is known as the current-
magnetic field interaction or the Lorentz force.
 This interaction between a current and an external magnetic field
is the basis of many electromechanical devices, such as motors
and generators. In a motor, the interaction between the current
flowing through a wire and the magnetic field produced by a
magnet generates a force that causes the wire to move. In a
generator, the motion of a wire through a magnetic field induces a
current to flow through it.
‫كهربي‬ ‫تيار‬ ‫به‬ ‫يمر‬ ‫سلك‬ ‫يتعرض‬ ‫لما‬
I
‫لمجال‬
‫مغناطيسي‬
B
‫قوة‬ ‫عليه‬ ‫يتولد‬ ‫فانه‬
F
‫المجال‬ ‫على‬ ‫عموديا‬ ‫المتحرك‬ ‫السلك‬ ‫كان‬ ‫إذا‬
‫المغناطيسي‬
B
،
‫هو‬ ‫المستحث‬ ‫الجهد‬ ‫مقدار‬ ‫فإن‬
:

‫الماتور‬ ‫علي‬ ‫ذلك‬ ‫تطبيق‬ ‫يمكن‬ ‫السابق‬ ‫المفهوم‬ ‫من‬
‫العزم‬ ‫ذراع‬ ‫اسمه‬ ‫معين‬ ‫بعد‬ ‫عند‬ ‫بتاثر‬ ‫قوة‬ ‫طريق‬ ‫عن‬ ‫بينتج‬ ‫عزم‬ ‫اي‬
𝑇 = 𝐹 ∗ 𝐿
‫الماتور‬ ‫عزم‬ ‫يبقي‬ ‫ده‬ ‫المفهوم‬ ‫من‬
𝑇𝑚 = 𝐹 ∗ 𝑟
F : is Induced force which generate from
interaction between magnetic field and
electrical current
R : is Rotor radius
𝐹 = 𝐵𝐿𝐼
So
𝑇𝑚 = 𝐵𝐿𝐼 ∗ 𝑟 = 𝐵𝐿𝑟 ∗ 𝐼
𝐵𝐿𝑟 = 𝐾𝑚, 𝑖𝑠 motor−torque constant
So
𝑻𝒎 = 𝑲𝒎 ∗ 𝑰

As the armature rotates, the magnetic field generated by the
current flowing through the field windings of the motor cuts
across the windings of the armature. This produces an induced
voltage in the armature windings according to Faraday's law of
electromagnetic induction. The induced voltage is in the opposite
direction to the applied voltage, and therefore is referred to as
the back EMF(Back Voltage ).
‫السابق‬ ‫المفهوم‬ ‫من‬
𝑒𝑏 = 𝐵𝐿𝑣
v : Is speed of rotor
𝒗 = 𝒓 ∗ 𝜽
So
𝒆𝒃 = 𝑩𝑳𝒓𝜽
𝑲𝒃 = 𝑩𝑳𝒓
So
𝒆𝒃 = 𝒌𝒃𝜽
‫ال‬ ‫ملحوظه‬
𝑲𝒃
‫تساوي‬
𝑲𝒎
‫كوحده‬ ‫ليس‬ ‫وولكن‬ ‫قانونيا‬ ‫كمقدار‬
‫العمل‬ ‫اثناء‬ ‫للماتور‬ ‫اتزان‬ ‫حاله‬ ‫عن‬ ‫بيعبر‬ ‫ده‬ ‫التساوي‬ ‫ولكن‬
‫حاله‬ ‫في‬
‫مقاومه‬ ‫اعتبار‬
rotor
‫مهمله‬

DC motor Modeling System
Remember Kirchhoff Law
Ref, Dynamic system
modeling

DC motor Modeling System
Remember Kirchhoff Law
‫من‬ ‫بيمشي‬ ‫التيار‬
‫للسالب‬ ‫موجب‬
i

Remember
Voltage on Coil
Voltage on
resistance

From previous Concept by applying it on DC motor
Armature
−𝒆𝒊𝒏 𝒕 + 𝒆𝑹 + 𝒆𝑳 + 𝒆𝒃 = 𝟎 𝒃𝒚 ∗ (−𝟏)
−𝒆𝑹 − 𝒆𝑳 − 𝒆𝒃 + 𝒆𝒊𝒏 𝒕 = 𝟎
𝐿𝑎𝐼𝑎 + 𝑅𝑎𝐼𝑎 + 𝐾𝑏𝜽 = 𝒆𝒊𝒏(𝒕) Electrical Equation
Laplace 𝐿𝑎𝐼𝑎 + 𝑅𝑎𝐼𝑎 + 𝐾𝑏𝒔𝜽(𝑺) = 𝑬𝒊𝒏(𝑺) Armature Current is
Variable

Remember
The torque damping law is a mathematical
equation that describes the behavior of a
mechanical system under the influence of
a damping force. This law states that the
damping torque (T) acting on a rotating
object is proportional to the angular
velocity (ω) of the object and is given by
the equation:

𝑻 = 𝑲𝒎𝑰𝒂 − 𝑻𝑳 − 𝒃𝜽 = 𝑱𝜽
𝑲𝒎𝑰𝒂 − 𝑻𝑳 = 𝑱𝜽 + 𝒃𝜽
𝑲𝒎𝑰𝒂 − 𝑻𝑳 = 𝑱𝒔𝟐
𝜽(𝒔) + 𝒃𝒔𝜽(𝒔)
Laplace
Mechanical Equation
From previous Concept by applying it on DC motor Rotor

‫بخلي‬ ‫اني‬ ‫وهو‬ ‫الحسابات‬ ‫عشان‬ ‫تبسيط‬ ‫عملية‬ ‫بعمل‬ ‫هنا‬
𝜽
‫و‬
𝜽
‫علي‬
‫صورة‬
𝜔‫و‬ 𝜔
‫التفاضليه‬ ‫المعادالت‬ ‫في‬ ‫للتسهيل‬
Second order
First order
First order
First order Third order DC
motor Model
Second order DC
motor Model

The transfer function of a linear system is defined as the
ratio of the Laplace transform of the output variable to
the Laplace transform of the input variable, with all
initial conditions assumed to be zero
Example
Remember TF
Laplace Table

Explanation of Armature Model Function
of DC motor [Ref,WILLIAMS Palm]

Transfer Function DC motor Step by
Step

Transfer Function DC motor
To get transfer function between Angular
speed (Output) and Voltage (Input ) you
must simplify block diagram first
Remember That
Cascade
Parallel
Feed Back

Neglect 𝑻𝒅 , 𝑳𝒂
Transfer Function DC motor

Geared DC Motor
‫عزم‬ ‫بينهم‬ ‫بيتنقل‬ ‫ماتورين‬

ELECTROMECHANICAL SYSTEM
Solenoid

Remember
A coil, also known as an inductor, can generate
voltage in a number of ways. One of the most
common methods is through electromagnetic
induction, which occurs when the magnetic field
around the coil changes. This change in magnetic
field induces a voltage in the coil, according to
Faraday's law of electromagnetic induction.
Another way to generate voltage in a coil is through a
phenomenon called self-induction. This occurs when
the magnetic field around the coil changes due to a
change in the current flowing through the coil itself.
This change in magnetic field induces a voltage in the
coil that opposes the change in current, according to
Lenz's law.

x is the armature
displacement
(measured positive to
the right from the
seated position)
N : is the number of turns of the coil
A : is the area of the air gap
l : is the coil length
𝜇 : is the magnetic permeabilities of air
and the iron core.

−𝒆𝑹 − 𝒆𝑳 + 𝒆𝒊𝒏 𝒕 = 𝟎
Electrical Equation
𝒆𝒊𝒏 𝒕 = 𝑹𝑰 + 𝑳𝑰
𝑰 =
𝒅𝒊
𝒅𝒕
𝑳𝒂𝒑𝒍𝒂𝒄𝒆 𝑬𝒊𝒏 𝑺 = 𝑹𝑰 𝑺 + 𝑳𝑺𝑰(𝑺)
Armature Circuit Model

Third Model System
𝐹𝑒𝑚 =
𝑑𝜀
𝑑𝑥
𝜀 =
1
2
𝐿𝐼2
Electromagnetic Force
𝒎𝒙 + 𝒃𝒙 + 𝒌𝒙 = 𝑭𝒆𝒎
𝒎𝒙 + 𝒃𝒙 + 𝒌𝒙 =
1
2
𝑑𝐿
𝑑𝑥
𝐼2
Electromagnetic Energy
Mechanical Equation𝑳𝒆𝒕 𝑭𝒆𝒎 = 𝟐𝝅𝒂𝑵𝜷𝑰
𝒎𝒙 + 𝒃𝒙 + 𝒌𝒙 = 𝟐𝝅𝒂𝑵𝜷𝑰 = 𝜶𝑰 𝜶 = 𝟐𝝅𝒂𝑵𝜷
a: is coil diameter
N: Number of coil turns
𝜷 : Magnetic flux
Mechanical Model

Transfer Function
𝒎𝒔𝟐 + 𝒃𝒔 + 𝒌 𝑿 𝒔 = (𝜶)𝑰(𝒔)
𝑿 𝒔
𝑬 𝒔
=
𝜶
𝑳𝒔+𝑹 𝒎𝒔𝟐+𝑩𝒔+𝑲
𝑿 𝒔 =
(𝜶)𝑰(𝒔)
𝒎𝒔𝟐 + 𝒃𝒔 + 𝒌
𝛼 = 2π𝑎𝑁𝛽
1
2
𝑬𝒊𝒏 𝑺 = 𝑹𝑰 𝑺 + 𝑳𝑺 𝑰(𝑺)
𝑬𝒊𝒏 𝑺 = (𝑹 + 𝑳𝑺 )𝑰(𝑺)

Summary of Laws
2-DC Motor
1-Transistors
𝐹 = 𝐵𝐿𝐼
𝑒𝑏 = 𝐵𝐿𝑣 = 𝐾𝑏 ∗ 𝜽
𝑻𝒎 = 𝐵𝐿𝑟 ∗ 𝐼 = 𝑲𝒎 ∗ 𝑰
𝐿𝑎𝐼𝑎 + 𝑅𝑎𝐼𝑎 + 𝐾𝑏𝜽 = 𝒆𝒊𝒏(𝒕)
𝑲𝒎𝑰𝒂 − 𝑻𝑳 = 𝑱𝜽 + 𝒃𝜽
−𝒆𝑹 − 𝒆𝑳 + 𝒆𝒊𝒏 𝒕 = 𝟎
3- Solenoid
L(x)𝐼 + 𝑅𝐼 = 𝒆𝒊𝒏 𝒕 − 𝑳𝒙𝑥𝐼
𝑚𝑥 + 𝑏𝑥 + 𝑘𝑥 =
1
2
𝐿𝐼2
𝐼𝐶 = β ∗ 𝐼𝐵
𝐼𝐸 = 𝐼𝐶 + 𝐼𝐵
𝛼 =
𝛽
𝛽 + 1
𝑉𝐶𝐸 = 𝑉𝐶𝐵 + 𝑉𝐵𝐸
𝑉𝐵𝐵 = 𝐼𝐵𝑅𝐵 + 𝑉𝐵𝐸 + 𝐼𝐸𝑅𝐸 = 𝑉𝐸𝐸
𝑉𝐶𝐶 = 𝐼𝐶𝑅𝐶 + 𝑉𝐶𝐸 + 𝐼𝐸𝑅𝐸 + 𝑉𝐸𝐸
𝐼 =
𝑉
𝑅
∆𝑇 = 𝑇𝐽 − 𝑇𝐴 = 𝑃 ∗ 𝑅𝐽𝐴

Torque and speed model
𝑃 = 𝑇 ∗ 𝜔
𝜔 =
2𝜋𝑁
60

Bicycle Model
𝑚 ∗ 𝑣𝑦 + 𝑚𝑣𝑥 +
2𝐿1𝑐𝑎𝑓 − 2𝐿2𝐶𝑎𝑟
𝑣𝑥
ω𝑧 +
2 ∗ 𝐶𝑎𝑓 + 2𝐶𝑎𝑟
𝑣𝑥
𝑣𝑦 = 2𝐶𝑎𝑓𝛿
I𝑧 ∗ 𝜔𝑧 +
2𝐿1
2𝑐𝑎𝑓+2𝐿2
2𝐶𝑎𝑟
𝑣𝑥
ω𝑧 +
2∗𝐶𝑎𝑓𝐿1−2𝐿2𝐶𝑎𝑟
𝑣𝑥
𝑣𝑦 = 2𝐿1𝐶𝑎𝑓𝛿

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