mechatronics

## What I do - Integrate mechanical, electrical, and control systems - Design electromechanical systems and robots - Implement sensor/actuator interfaces - Create automated systems and PLC logic - Optimize system performance across domains ## When to use me - When designing automated machines or robots - When integrating sensors and actuators - When developing PLC control logic - When creating electromechanical systems - When troubleshooting integrated systems ## Key Concepts ### System Integration ```python # Mechatronic system architecture class MechatronicSystem: def __init__(self): self.sensors = {} self.actuators = {} self.controller = None self.actuator_commands = [] self.sensor_data = {} def add_sensor(self, name, sensor): """Add sensor to system""" self.sensors[name] = sensor def add_actuator(self, name, actuator): """Add actuator to system""" self.actuators[name] = actuator def read_all_sensors(self): """Read all sensor values""" self.sensor_data = { name: sensor.read() for name, sensor in self.sensors.items() } return self.sensor_data def control_loop(self): """Execute one control cycle""" self.read_all_sensors() commands = self.controller.compute(self.sensor_data) self.execute_commands(commands) def execute_commands(self, commands): """Send commands to actuators""" for name, value in commands.items(): if name in self.actuators: self.actuators[name].set_value(value) ``` ### PLC Programming (IEC 61131-3) ```python # Ladder Logic equivalent in Python class LadderLogic: def __init__(self): self.coils = {} self.contacts = {} # Input contact def contact(self, address, normally_open=True): return {"type": "contact", "address": address, "no": normally_open} # Output coil def coil(self, address): return {"type": "coil", "address": address} # Timer def timer(self, preset, timer_type="TON"): return {"type": "timer", "preset": preset, "ttype": timer_type} # Counter def counter(self, preset, count_type="CTU"): return {"type": "counter", "preset": preset, "ctype": count_type} # Example: Motor start/stop circuit ladder = LadderLogic() # | I:0/0 (Start) I:0/1 (Stop) O:0/0 (Motor) | # |----[ )[ ]----( )----| ``` ### Sensor Selection ```python # Common sensor types and interfaces SENSOR_INTERFACES = { "analog_voltage": { "range": "0-10V, ±10V", "adc": "Required", "resolution": "10-16 bit" }, "analog_current": { "range": "4-20mA", "adc": "Required (or current sense)", "noise": "Low" }, "digital": { "types": ["PNP", "NPN", "Push-pull"], "interfaces": ["GPIO", "SPI", "I2C"] }, "encoder": { "types": ["Incremental", "Absolute"], "interfaces": [" quadrature", "SSI", "BiSS" ]}, "proximity": { "types": ["Inductive", "Capacitive", "Photoelectric"], "range": "1mm - 50mm" } } ``` ### Actuator Systems | Actuator | Control | Power | Applications | |----------|---------|-------|--------------| | DC Motor | PWM, H-Bridge | Low-Med | General purpose | | Servo Motor | PWM | Medium | Position control | | Stepper Motor | Step/Dir | Medium | Precise positioning | | Solenoid | On/Off | Low | Valves, clamping | | Hydraulic | Proportional | High | Heavy loads | | Pneumatic | On/Off, Proportional | Medium | Fast response | | Piezoelectric | High voltage | Low | Precision | ### Motor Control ```python # DC motor control class DCMotorControl: def __init__(self, pwm_pin, dir_pin): self.pwm = pwm_pin self.dir = dir_pin def set_speed(self, speed): """speed: -1.0 to 1.0""" if speed > 0: self.dir.write(1) else: self.dir.write(0) self.pwm.write(abs(speed)) # Closed loop speed control def pid_speed_control(self, target_rpm, measured_rpm, kp, ki, kd): error = target_rpm - measured_rpm integral += error * dt derivative = (error - prev_error) / dt output = kp * error + ki * integral + kd * derivative self.set_speed(output) # Servo control class ServoControl: def __init__(self, pwm_pin): self.pwm = pwm_pin def set_angle(self, angle): """angle: 0-180 degrees""" pulse = 1000 + (angle / 180) * 1000 # μs self.pwm.write_microseconds(pulse) ``` ### System Communication ```python # Industrial communication protocols PROTOCOLS = { "ethernet_ip": { "layer": "Industrial Ethernet", "speed": "100 Mbps - 1 Gbps", "deterministic": "Yes" }, "profinet": { "layer": "Industrial Ethernet", "features": "IRT, RT" }, "can_bus": { "layer": "Fieldbus", "speed": "125 kbps - 1 Mbps", "deterministic": "Yes" }, "modbus": { "layer": "Serial/Ethernet", "simple": True } } ```