MECHATRONICS MANUAL.pdf

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Page 1 of 55 ©Einstein College of Engineering

EINSTEIN

COLLEGE OF ENGINEERING Sir.C.V.Raman Nagar, Tirunelveli-12

Department of Mechanical Engineering

ME 77-Mechatronoics Lab Manual

Name : ………………………………………

Reg No : ………………………………………

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TABLE OF CONTENTS

S.No. Date Name of the experiment Page No Marks Staff

initial Remarks

1. Control the single acting

and double acting cylinders using pilot valves

2.

Continuous reciprocating of single acting and double

acting cylinder using pilot valves

3. Designing a pneumatic circuit for the sequence

a+b-a-b

4.

Electro pneumatic control of double acting cylinder using

SPDT and pushbutton switch

5. Actuation of single acting

cylinder using ON and OFF delay timer

6. PLC control of single acting

cylinders ON and OFF delay timer

7. Automatic actuation of

double acting cylinder using PLC

8. PLC control of sequencing circuit using PLC ladder

diagram

9. Design of pneumatic circuit using pneumosim software

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10. Design of hydraulic circuit using hydrosim software

11. Servo motor using open loop system

12. Servo motor using closed

loop system

13. Study of 8051

microcontroller and stepper motor

14. Run the stepper motor at

different speed and different direction

15. Run the stepper motor in

forward and reverse direction

16. Hydraulic linear actuation trainer

17. Real time temperature controller

18. Multi process station current to pressure transmitter and

flow transmitter

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CONTROL THE SINGLE ACTING AND DOUBLE ACTING CYLINDERS USING

PILOT VALVES Expt. No.: Date:

AIM:

To actuate single and double acting cylinders in a pneumatic circuit.

APPARATUS REQUIRED:

1. Single acting cylinder

2. 3/2 push button spring return DCV

3. 3/2 single pilot valve

4. 5/2 single, double pilot DCV

5. Air service unit

6. Connecting tubes

CIRCUIT DIAGRAM-SINGLE ACTING CYLINDER.

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DOUBLE ACTING CYLINDER WITH 5/2 SINGLE PILOT VALVE

CIRCUIT DIAGRAM-DOUBLE ACTING CYLINDER WITH 5/2 DOUBLE PILOT VALVE

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PROCEDURE:

1. The connection is made as shown in figure.

2. The pilot pressure are fed into the 3/2 direction control valve.

3. When the button is pushed the air is sent into single acting cylinder.

4. The cylinder moves in forward position.

5. When the push button is released, it retracts because of the spring.

6. Feed the air through different valves and make the cylinder to actuate.

RESULT:

Thus the cylinders are actuated by the air pressure in the pneumatic circuit.

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CONTINUOUS RECIPROCATING OF SINGLE ACTING AND DOUBLE ACTING CYLINDER USING PILOT VALVES

Expt. No.: Date:

AIM:

To actuate a single and double acting cylinders using pilot valves

APPARATUS REQUIRED:

1. Double acting cylinder

2. 3/2 single pilot DCV


4. 5/2 double pilot DCV

5. 3/2 roller lever valves

6. FRL unit

7. Connecting tubes

CIRCUIT DIAGRAM-SINGLE ACTING CYLINDER:

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PROCEDURE:

SINGLE ACTING CYLINDER:

1. The circuit is given as shown in figure.

2. Connect the compressed air supply to FRL unit

3. Check the all circuit

4. Open the hand slide valve

5. Observe the working of continuous running single acting cylinder

CIRCUIT DIAGRAM-DOUBLE ACTING CYLINDER-5/2 DOUBLE PILOT VALVE

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DOUBLE ACTING:

1. Draw the circuit diagram

2. connect compressor air supply to FRL unit

3. Connect any one of the outputs of FRL unit to 5/2 direction control unit port 1

4. Connect port 4 of DCV to blank end of the double acting cylinder

5. Connect the output of FRL unit to the input of two 3/2 roller lever valves to give pilot pressure for 5/2 double pilot valve

6. The output of the two roller valves are connected to the either side of the 5/2 double pilot valve properly.

7. When the FRL valve is opened the higher pressure air enters the blank end of the cylinder through DCT and the piston moves forward.

8. At the end of the forward stroke the piston rod pressures the roller valve. The output of roller valve is sent to double acting cylinder to change the position.

9. Now the high pressure air from FRL unit is sent to rod end of the double acting cylinder through the second position of the DCV the piston retracts.

10. At the end of return stroke the roller valve is pressed. The output of the roller valve is sent to dc change the piston. This is repeated until the FRL valve is closed.

RESULT:

Thus the continuous reciprocating of single and double acting cylinders are actuated by

the air pressure in the pneumatic circuit.

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DESIGNING A PNEUMATIC CIRCUIT FOR THE SEQUENCE A+B-A-B

Expt. No.: Date:

AIM

To design a circuit for the sequence A+B – A-B

APPARATUS REQUIRED

1. Single and Double acting cylinder



4. 5/2 double pilot DCV

5. 3/2 roller lever valves

6. FRL unit

7. Connecting tubes

CIRCUIT DIAGRAM:

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PROCEDURE:

1. Draw the circuit diagram.

2. Connect the compressor air to FRL unit

3. Air both outputs of FRL unit connected to all components.

4. Test your all circuits.

5. Open the hand slide valve.

6. Observe the working of cylinders.

RESULT:

The circuit diagram for the sequence is drawn and executed.

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ELECTRO PNEUMATIC CONTROL OF DOUBLE ACTING CYLINDER USING SPDT AND PUSHBUTTON SWITCH

Expt. No.: Date:

AIM:

To develop a electro-pneumatic circuit for extension and retraction of double acting cylinder

APPARATUS REQUIRED:


2. 3/2 solenoid valve

3. 5/2 single and double solenoid valve

4. FRL unit

5. Relay

6. SPDT Switch

7. Pushbutton switch

8. Connecting tubes & wires

9. Data Card

CIRCUIT DIAGRAM-SPDT SWITCH

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PROCEDURE:

SPDT SWITCH

1. Provide power supply to the pneumatic trainer from control trainer by interfacing

24+vand-v

2. Using the SPDT switch energize the corresponding solenoid valve to get the desired

movement in the cylinder.

3. Supply the Air to FRL unit.

4. Assemble all the components.

5. Check all the connections carefully.

6. Test the circuit. Observe the working of the cylinder using the 3/2 and 5/2 solenoid valve.

CIRCUIT DIAGRAM-PUSH BUTTON

PUSHBUTTON SWITCH:

1. Draw the circuit diagram and connect the air supply to FRL unit.

2. Connect the electrical circuit from 24 dc source to ON/OFF switch.

3. Solenoids are connected to the pushbutton switch.

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4. When the solenoid is given a signal solenoid are cut and the solenoids are de-energized

and the DCV activated to single and double acting cylinder.

5. When off button is pressed the signal solenoid are cut and the solenoids are de-energized

and the DCV comes to the original position.

RESULT:

Thus the movement of double acting cylinder was carried out using switches.

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ACTUATION OF SINGLE ACTING CYLINDER USING ON AND OFF DELAY TIMER

Expt. No.: Date:

AIM:

To develop an electro-pneumatic circuit for the activation of single acting cylinder using timer.

APPARATUS REQUIRED

1. single acting cylinder

2. 3/2 single solenoid valve

3. Slide valve

4. FRL unit

5. Connecting tubes & wires

CIRCUIT DIAGRAM-ON TIMER

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PROCEDURE:

ON DELAY TIMER

1. Provide power supply to electrical controller by interfacing the +ve to –ve and –ve

to -ve

2. Provide power supply to pneumatic trainer for electrical controller by interfacing

24+ve to +ve and –ve to –ve.

3. Using the SPDT switch energize the corresponding solenoid to get the desired

movement of the cylinder

4. Actual the time delay circuit.

5. From time delay, give connection to single acting cylinder to actuate the cylinder

according to time set.

6. Design and draw the pneumatic circuit.

7. Connect the air supply.

8. Test the circuit

9. Observe the working of the cylinder.

Circuit diagram-OFF TIMER

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OFF DELAY TIMER

1. Provide Power supply to pneumatic trainer from electrical controller by interfacing +24V and -24V

2. Provide 24V power supply to timer

3. Any one of the outputs of FRL unit is directly connected to 3/2 single solenoid valve.

4. Single solenoid valve output is connected to single acting cylinder.

5. Give +24V and -24V in timer

6. Output of Timer is connected to solenoid coil.

7. Check the all circuit

8. Observe the working of cylinder

9. Observe the working circuit.

RESULT:

Thus the movement of single acting cylinder was carried out using time delay.

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PLC CONTROL OF SINGLE ACTING CYLINDERS ON AND OFF DELAY TIMER

Expt. No.: Date:

AIM:

To design a circuit to extend and retract the single acting cylinder with the help of delay

timer controlled by PLC.

APPARATUS REQUIRED:

1. Single acting cylinder

2. RS 232 cable

3. Versa pro software

4. 3/2 single solenoid valve

5. FRL unit

6. PLC

7. Connecting wires and tube

CIRCUIT DIAGRAM:-ON DELAY TIMER

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PROCEDURE:

ON DELAY TIMER:


2. Provide +24V and –24V from PLC trainer to panel.

3. Open the versa pro software in desktop

4. Interface PLC with PC using RS 232 cable.

5. Write a ladder diagram.

6. Output of PLC (q1) is directly connected to input of solenoid coil.

7. Following the opening procedure of versa pro software.

8. Check the ladder diagram.

9. Connect the air supply to FRL unit.

10. Run the PLC. After some delay the cylinder will be activated.

CIRCUIT DIAGRAM-OFF DELAY TIMER

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OFF DELAY TIMER






6. Output of PLC (q1) is directly connected to input of solenoid coil.




10. Run the PLC and observe the working of single acting cylinder.

RESULT:

Thus the actuation of single acting cylinder with ON and OFF delay timer was

done using PLC.

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AUTOMATIC ACTUATION OF DOUBLE ACTING CYLINDER USING PLC

Expt. No.: Date:

AIM

To simulate the automatic sequence of double acting cylinder using PLC

APPARATUS REQUIRED


2. RS 232 cable

3. versa pro software

4. 5/2 double solenoid valve

5. FRL unit

6. PLC

7. Connecting wires and tube.

CIRCUIT DIAGRAM

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PROCEDURE:






6. Both outputs of PLC (q1 and q2) are directly connected to inputs of solenoid coils.




10. Run the PLC and observe the working of double acting cylinder.

RESULT:

Thus the ladder diagram for the automatic running of double acting cylinder is drawn and

executed.

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PLC CONTROL OF SEQUENCING CIRCUIT USING PLC LADDER DIAGRAM

Expt. No.: Date:

AIM

To design a circuit for the sequence A+B+A-B using PLC

APPARATUS REQUIRED:

1. Single and Double acting cylinder

2. RS 232 cable

3. versa pro software

4. 3/2 single solenoid valve ,5/2 double solenoid valve

5. FRL unit

6. PLC

7. Connecting wires and tube

CIRCUIT DIAGRAM:

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PROCEDURE:






6. Outputs of PLC (q1, q2, q3 and q4) are directly connected to the inputs of solenoid coil.




10. Run the PLC and observe the working of double acting cylinder.

RESULT:

Thus the ladder diagram for the automatic running of double acting cylinders is designed and

executed.

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DESIGN OF PNEUMATIC CIRCUIT USING PNEUMOSIM SOFTWARE

Expt. No.: Date:

AIM:

To simulate the pneumatic circuit with single acting, double acting cylinders by manual and

automatic mode using pneumatic simulation software

REQUIREMENTS:

1. Personal Computer

2. PHEUMOSIM Software

PROCEDURE:

1. Open the software in the personal computer.

2. Select the new file in it.

3. Click on the supply elements and then select, copy, paste the compressor .

4. Click the attenuator and then select copy, paste the single and double acting cylinder.

5. Then select, copy, paste the 3/2, 5/2 single and double solenoid valve.

6. Select the air supply unit.

7. Connect all the components.

8. Start and operate the single, double acting cylinders.

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RESULT:

Thus the Pneumatic circuit for single acting, double acting cylinder was simulated

using PNEUMOSIM software.

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DESIGN OF HYDRAULIC CIRCUIT USING HYDROSIM SOFTWARE

Expt. No.: Date:

AIM:

To simulate the hydraulic circuit with single acting, double acting cylinders by manual and

automatic mode using hydraulic simulation software

REQUIREMENTS:

1. Personal Computer

2. HYDROSIM Software

PROCEDURE:

1. Open the software in the personal computer.

2. Select the new file in it.

3. Click on the supply elements and then select, copy, paste the pump and tanks.

4. Click the attenuator and then select, copy, paste the single and double acting

cylinder.

5. Then select, copy, paste the 3/2, 5/2 single and double solenoid valve.

6. Connect all the components

7. Start and operate the single, double acting cylinders.

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RESULT:

Thus the Hydraulic circuit for single acting, double acting cylinder was simulated using

HYDROSIM software.

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SERVO MOTOR USING OPEN LOOP SYSTEM

Expt. No.: Date:

AIM:

To study the performance of servomotor control for open loop system

REQUIREMENTS:

1. Servo motor

2. PLC

3. Win Pro Ladder

4. PC

5. connecting cables

6. Patch chords

PROCEDURE:

1. Load the Win pro ladder and software to the PC.

2. Open the PLC trainer.

3. Connect the PLC & servo controller kit.

4. Open the new folder and draw the ladder logic diagram.

5. Connect the drive & PC.

6. Set the Speed and direction and other drivers.

7. Connect the PLC and PC.

8. Run the program.

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RESULT:

Thus the Performance of the servo motor was studied for open loop system.

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SERVO MOTOR USING CLOSED LOOP SYSTEM

Expt. No.: Date:

AIM:

To study the performance of servomotor control for closed loop system

REQUIREMENTS:

1. Servo motor

2. PLC

3. Win Pro Ladder

4. PC

5. connecting cables

6. Patch chords

PROCEDURE:

1. Load the Win pro ladder and software to the PC

2. Open the PLC trainer

3. Connect the PLC & servo controller kit

4. Open the new folder and draw the ladder logic diagram

5. Connect the drive & PC

6. Set the Speed and direction and other drivers

7. Connect the PLC and PC

8. Run the program

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RESULT:

Thus the Performance of the servo motor was studied for closed loop system

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STUDY OF 8051 MICROCONTROLLER AND STEPPER MOTOR Expt. No.: Date:

AIM: The study the fundamentals of 8051 microcontrollers and stepper motor.

MICROCONTROLLER:

A microcontroller is an integration of a microprocessor with memory and input, output interfaces and other peripherals such as timers on a single chip.

A microcontroller may take an input from the device it is controlling and control the device by sending signals to different components in the device.

A microcontroller is often small and low cost. The components may be chosen to minimize size and to be as inexperience as possible.

Another name for a microcontroller is embedded controller. They can control features or action of the product.

Register in microcontroller:

A microcontroller contains a group of registers each type of register having a different functions.

Accumulator:

The accumulator (A) is an 8 bit register where data for an input to the arithmetic and logic unit is temporarily stored. So the accumulator register is a temporary handling register for data to be operated on by the arithmetic and logic unit also after the operation the register for holding the result.

B Register:

In addition to accumulator an 8 bit B-register is available as a general purpose register when it is not used for the hardware multiply/divide operation.

Data pointer (DPTR):

The data pointer consists of a high byte (DPH) and a low byte (DPL). Its function is to hold a 16 bit address. It may be manipulated as a 16 bit data register. It serves as a base register in direct jumps, lookup table instructions and external data transfer.

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Stack pointer:

The stack refers to an area of internal RAM that is used in conjunction with certain opcode data to store and retrieve data quickly. The stack pointer register is used, by the 8051 to hold as internal RAM that is called top of stock. The stack pointer register is 8 bit wide. It is increased before data is stored during PUSH and CALL instructions and decremented after data is restored during POP and RET instruction. The stack pointer is initialized to 07H after a reset. This causes the stack to begin at location 08H.

Program counter:

The 8051 has 16 bit program counter. It is used to hold the address of memory location from which the instruction to be fetched. 8051 is a 16 bit hence it can be address up to 216 byte i.e. 64k of memory. The PC is the only register that does not have an internal address.

Internal RAM:

The 8051 has 128 bytes internal RAM. It is addressed using RAM address register

First thirty two bytes from address 00H to 1FH of internal RAM constitute 32 working registers. They organized into four banks of eight registers each. The four register banks are numbered 0 to 3 and consist of eight registers named R0 to R7. Each register can be addressed by name or by its RAM address.

Only one register bank is in use at a time. Bits Rs0 and Rs1 in the PSW determine which bank of register is currently in use.

Register banks when not selected can be used as general purpose RAM.

PIN diagram of microcontroller:

The 8051 microcontroller is available in a 40 pin dual in-line (DIL) package arrangement. It is important to note that many pins of 8051 are used for more than one function.

The function of each of the pins is as follows.

PORT 0 (pins 32-39):

Port 0 pins can be used as I/O pins. The output drives and input buffers of port 0 are used to access external memory address, time multiplexed with the data being written or read. Thus port 0 can be used as multiplexed address data bus.

PORT 1 (pins 1-8):

Port 1 pins can be used only as I/O pins.


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The output drives of port 2 are used to access external memory. Port 2 outputs the high order byte of the external memory address when the address is 16 bits wide otherwise port 2 is used as I/O ports.


All ports pins of port-3 are multifunctional. They have special functions including two external interrupts two counter two special data lines and two timing control strobes.

Power supply pins Vcc and ground to pin Vcc with rated power supply current of 125mA.

Oscillator Pins XTA2 (pin 18) and XTA1 (pin 19):

For generating an internal clock signal the external oscillator is connected at these two pins.

ALE (address latch enable) Pin 30:

AD0 to AD7 lines are multiplexed. To determine these lines and for obtaining lower half of an address, an external latch and ALE of 8051 is used.

RST (Reset pin 9):

This pin is used to reset 8051. For proper reset operation, reset signal must be held high at least for two machine cycles, while oscillator is running.

PSEN (Program Store Enable pin29):

It is the active low output control signal used to activate the enable signal if the external ROM/EPROM. It is activated every six oscillator periods while reading the external memory. Thus this signal acts as the read store to external program memory.

STEPPER MOTOR

A motor in which the rotor is able to assume only discrete stationary angular position is a stepper motor. The rotary motion occurs in a stepwise manner from one equilibrium position to the next.

Construction features:

A stepper motor could be either of the reluctance type of or permanent magnet type. A PM motor consists of multiphase stator and two part permanent magnet rotor variable reluctance motor has magnetized rotor. PM stepper motor is the most commonly used type. The basic two phase stepper motor consists of two pairs of stator poles. Each of four poles has its own winding. The excitation of any one winding generates a north pole and a South Pole gets attracted and the torque induced at the diametrically opposite side. The rotor magnetic system has two end faces. The left face is permanently magnetized as south and the right face as North Pole faces.

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The north pole structure is twisted with respect to the south pole structure so that south pole precisely between two north poles. In an arrangement where there are four stator poles and three pairs of rotor poles, there exist 12 possible stable position in which a south pole if the rotor can lock with a north pole of the stator. From this is can be noted that the step size is

= 360 (Ns*Nr)

Ns number of stator pole

Nr number of pairs of rotor poles

Generally step size of the stepper motor depends up on rotor poles. There are three different schemes available for stepping a motor. They are

1. wave scheme 2. 2 phase scheme 3. half stepping or missed scheme

Wave switching scheme:

Anticlock wise Clock wise

Step A1 A2 B1 B2 Step A1 A2 B1 B2

1 1 0 0 0 1 1 0 0 0

2 0 0 0 1 2 0 0 1 0

3 0 1 0 0 3 0 1 0 0

4 0 0 1 0 4 0 0 0 0

Two phase switching scheme:

Anticlock wise Clock wise

Step A1 A2 B1 B2 Step A1 A2 B1 B2

1 1 0 0 1 1 1 0 1 0

2 0 1 0 1 2 0 1 1 0

3 0 1 1 0 3 0 1 0 1

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4 1 0 1 0 4 1 0 0 1

Operational features of stepper motor:

There are many kinds of stepper motor like unipolar type, bipolar type, single phase type, multiphase type; single phase stepper motor is often used for quartz watch. In PM type stepper motor, a permanent magnet is used for motor and coils are put on stator. The stepper motor model which has 4 poles at top and bottom and at either sides. X coil, X¯ coil, r coil and r¯ coil are put to the upper side and the lower pole. r coil and r¯ coil are rolled up for the direction of the pole becomes opposite when applying an electric current to the r¯ coil. It is similar about X and X¯ too. The turn of the motor is controlled by the electric current which pairs into X, X¯, r, r¯. The rotor rotational speed and the direction of turn can be controlled by this control.

Speed control of a stepper motor:

The requirement is to use a microcontroller to drive a stepper motor in both forward and reverse directions of shaft rotation and to implement a two speed arrangement switches are to be used to produce the two speeds and a reversal of shaft rotation.

Generally a stepper motor has four sets of coils; one end of each coil may be connected together and then connected to DC supply. The remaining four ends may be driven through transistors either separately or in integrated circuit form. A four bit code sequence continuously applied to the drive circuit from the microcontroller port causes the motor shaft to rotate in angular steps. Stepper motor have step angles of 1.8 degree step revolution and turning force may be improved by using a step down gear box. The stepping code sequence may be obtained from the motor manufacturer or distributor. The program in this example was a common four step sequence of A,9,5,6 that it sent continuously would cause the motor shaft to rotate.

RESULT:

Thus the fundamentals of microcontroller and stepper motor were studied.

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RUN THE STEPPER MOTOR AT DIFFERENT SPEED AND DIFFERENT DIRECTION

Expt. No.: Date:

AIM: To run a stepper motor at different speed and different direction by using 8051 assemble language

APPARATUS REQUIRED:

1. Stepper Motor

2. Interface Board

PROCEDURE:

1. Switch ON the micro controller

2. Initialize the starting address

3. Enter the mnemonics code in the microcontroller

4. Reset the microcontroller

5. Execute the program

PROGRAM:

Address

Label

Instruction Opcode

4100 ORG 4100H

4100 START MOV DPTR, #4500H

4103 MOV R0, #04

4105 J0 MOVX A, @DPTR

4106 PUSH DPH

4108 PUSH DPL

410A MOV DPTR, #FFCOH

410D MOV R2, #04H

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410F MOV R1, #FFH

4111 DLY 1 MOV R3, #FFH

4113 DLY DJNZ R3, DLY

4115 DJNZ R1, DLY1

4117 DJNZ R2, DLY1

4119 MOV @DPTR, A

411A POP DPL

411C POP DPH

411E INC DPTR

411F DJNC R0 ,J0

4121 SJMP START

4123 END

4500 TABLE DB 09, 05, 06, 0A

RESULT:

Thus the program to run the stepper motor at different speed and different direction was

derived using 8051 assemble language and was verified.

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RUN THE STEPPER MOTOR IN FORWARD AND REVERSE DIRECTION

Expt. No.: Date:

AIM: To run a stepper motor in forward and reverse rotation using 8051 assembly language

APPARATUS REQUIRED:

1. Stepper Motor

2. Interface Board

PROCEDURE:

1. Switch ON the micro controller

2. Initialize the starting address

3. Enter the mnemonics code in the microcontroller

4. Reset the microcontroller

5. Execute the program

PROGRAM:

Address

Label

Instruction Opcode

4100 ORG 4100H

4100 START: MOV R4, #33H

4102 L2: DPTR, #FORWARD

4105 L1

4108 R4, L2

410A DELAY

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410D R4, #33H

410F L3: DPTR, #REVERSE

4112 L1

4115 R4, L3

4117 DELAY

411A START

411C L1: R0, #04H

411E LOOP : A,@DPTR

411F 83H

4121 82H

4123 DPTR, #OFFCOH

4126 R2, #04H

4128 L7: R1, #05H

412A L6: R3, #OFFH

412C L4 : R3, L4

412E R1, L6

4130 R2, L7

4132 @DPTR ,A

4133 82H

4135 83H

4137 DPTR

4138 R0, LOOP

413A

413B DELAY : R5, #01H

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413D L9 : R2, #05H

413F L8: R2, L8

4141 R5, L9

4143 RET

4144 FORWARD :

DB 09H,05H,06H,0AH

4148 REVERSE : DB 0AH,06H,05H,09H

RESULT:

Thus the program to rotate the stepper motor in forward and reverse direction was

derived using 8051 assemble language and was verified.

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HYDRAULIC LINEAR ACTUATION TRAINER

Expt. No.: Date:

AIM:

To study the working of linear actuation system.

APPARATUS REQUIRED:

1. Linear actuation system

2. PLC

3. Verse pro software

4. PC

5. RS 232 cable

6. Patch chords

CIRCUIT DIAGRAM:

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PROCEDURE:

1. Load the verse pro software to PC.

2. Open the verse pro software.

3. Switch ON PLC and linear actuation system.

4. Connect the PC and PLC.

5. Draw ladder logic diagram.

6. Download in PLC.

7. Run the program.

8. Check the performance of linear actuation system.

SPEED:

Sl.No. Velocity up

(cm/sec)

Flow

(cm3/sec)

Velocity down

(cm/sec)

Flow

(cm3/sec)

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FORCE:

Force:

Model calculation:

(i) velocity = flow / area

area (a) = (Π / 4) x (d2)

flow = velocity x area

Sl.No. Pressure

(kg/cm2)

Displayed force in

kg

Calculated force in

kg

% of error

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(ii) pressure in kg/cm2 = force in kg / area in cm2

calculated force in kg =

% error =[ (displayed force – calculated force) / (displayed force) ] x 100

=

=

RESULT:

Thus the working of hydraulic linear actuation system was studied by using hydraulic

linear actuation trainer.

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REAL TIME TEMPERATURE CONTROLLER

Expt. No.: Date:

AIM:

The Objective of the experiment is to control the temperature process.

REQUIREMENT:

1. VRTTC- 01 Unit

2. Microcontroller / PC

3. Heater Setup

RTD

4. PC Power chord & cable

CIRCUIT DIAGRAM:

PROCEDURE:

1. Heater Power plug , Blower, RTD are connected in Back panel (VRTC – 01) connecters

named as Heater, Blower, Sensor respectively

2. Switch 1 is provided to control the heater supply voltage either by manually or by auto

mode.

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3. If switch 1 is selected as int mode potentiometer provided to control heater supply

voltage (0-230V AC) manually.

4. If switch 1 selected as ext mode, potentiometer provided to control the Heater supply

Voltage (0-230V AC) manually.

5. Interfacing should be followed as 1st pin Gnd, 2nd pin ADC (Negative), 3rd pin ADC

(Positive) ,DAC output fed at 4th &5th pin of 9 pin ‘D’ connector.

6. Switch on the VRTTC – 01 Unit.

7. Select any one of the control action (ON/OFF, PID) and enter the controller parameters

(Kp, Ki, Kd, DB)

8. Based on the optimum parameters, temperature reaches to designed level (30ο C – 100o

C)

9. For various set point, controller parameters, Observe the process response.

Note:

Run the Blower for at-least 5 minutes after the experiment to cool the heater. Temperature is a

slow and smooth process.

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Tabulation:

S.No Time (s) Temperature (oC)

RESULT:

Thus the controlling of real time temperature is done.

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MULTI PROCESS STATION CURRENT TO PRESSURE TRANSMITTER AND FLOW

TRANSMITTER

Expt. No.: Date:

AIM:

To study the characteristics & working principle of current to pressure converter, control valve

and flow transmitter.

APPARATUS REQUIRED:

1. VMPA – 62

2. Data Acquisition card / Digital Controller with cable.

3. PC with process control software

4. Patch chords.

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CIRCUIT DIAGRAM:

Diagram-1

Procedure:

1. Ensure the availability of Air.

2. Interface the data acquisition card or digital controller with process and PC.

3. Make the connections as per connection diagram – 1.

4. Maintain Gauge (G2) pressure at 20 psi by using air regulator knob.

5. Switch ON VMPA – 62 unit and Data Acquisition card with PC.

6. Invoke process control software.

7. Select “Control >> Manual mode” enter the controller power in the dialog box.

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8. Gradually vary the controller output from 0 to 100% and note down the current reading

and pressure reading (G3) and stem movement (%).

9. Tabulate the readings and draw the graph between current in MA Vs pressure in Psi.

10. Similarly, draw the graph between Pressure (G3) (Psi) Vs stem movement (%).

11. Conclude the behavior of Current to Pressure Converter and Control Valve.

Model graph:

Tabulation:

S.No Controller Output

(%)

Current Input

(mA)

Pressure Output

(G3)

Stem movement

(%)

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FLOW TRANSMITTER:

Circuit diagram:

Diagram-2

HAND VALVE SETTINGS:

HV1 – Partially Closed

HV2 – Fully Opened

HV3 – Fully Closed


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FLOW RANGE

Input – (50-500) Lph

Output – (4-20)mA

PROCEDURE

1. Ensure the availability of Air and Water.

2. Interface the data acquisition card or digital controller with process and PC.

3. Make the connections as per connection diagram – 2.

4. Maintain Gauge (G2) pressure at 20 Psi by using air regulator knob.

5. Ensure the hand valve settings are correct.

6. Switch ON VMPA – 62 unit and Data Acquisition card with PC.

7. Invoke process control software.

8. Select “Flow/Control >> Manual mode” and enter a controller output of 100%.

9. Switch ON the pump. Vary pump speed regulator to run pump at desired speed.

10. Gradually increase the flow (say in steps of 50 LPH) by varying the pump speed, and

note down the correct readings.

11. Switch OFF the Pump.

12. Draw the graph between flow Vs output current and conclude the behavior of the DPT.

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MODEL GRAPH

S.No Flow(LPH) Flow transmitter current Output(mA)

RESULT:

Thus the characteristics of the current to pressure converter, control valve and flow

transmitter were studied.

Documents

MECHATRONICS MANUAL.pdf