‫بسم هللا الرحمن الرحيم‬

Republic of Yemen Department: Mechatronics

\ Taiz University And Robotics Engineering
Alsaeeed Faculty of Engineering & Level: ...............5
IT Time: …………. 3 hours
‫جامعة تعز‬

Subject: Mechatronics System Design1 Final Exam

Answer only 4 questions from the 5 questions, with considering that Q1 and Q4 is necessary:

Q1:
a. What the purpose of hardware interrupts (in embedded systems)? When we use them?
b. Mention three of User Requirement Specifications URS and explain one of them?
c. What the difference between Embedded Systems, PLC and FPGA?
d. WINDOWS operating system is a real time operating system (RTOS). (True or False).
e. Embedded systems have isolating circuits on its input/output pins (True or False).
f. Why stepper motor speed is slow down when pulses frequency increase more than certain
values?
g. Explain the difference between resolution, accuracy and precision.
h. Does a VR stepper motor have a detent torque? Explain.

Q2:
a. Are system dynamics important (critical) for this
system? And why?
b. What are the control variables of this system?
c. What are the states (variables) of the system must be
measured?
d. What type of sensors do you need to measure the states
of the system?
e. To select the physical controller (embedded system,
flight computer, etc.) to control this system. What
specifications must be achieved in the controller?
f. If the radar station is instantaneously messed the missile. 𝑥
What Algorithm can be used to predict the trajectory of 𝑅𝑎𝑑𝑎𝑟 𝑆𝑡𝑎𝑡𝑖𝑜𝑛
the missile? Figure 1: 2D gided missile

Q3:
a. If you want to use this center tap stepper motor in a bipolar mode. 1
What pins should be used?
b. If you connected pin 2 with pin 5 then connected them
to supply voltage (+12v) and applied this sequence to
the poles. (full step is 90° ). 𝑁
position Pin 1 Pin4 Pin 3 Pin6
"0" 12 v 12 v 12 v 12 v
𝑆
"1" 0v 12 v 12 v 12 v
6 5
"2" 12 v 0v 12 v 12 v 4
"3" 12 v 12 v 0 v 12 2

3
Figure 2: Center Tap Stepper Motor

Eng. Osama Abdulbaset

 Draw the final position "position3" of the rotor. And draw the circuit of one coil with its
transistor.

c. A 7.5° stepper motor is commanded to go 50 steps CCW, 27 steps CW, and 35 steps CCW
again. What is its final angle (referenced from its original position)?

Q4:
Figure2. shows mechatronics system (hoisting system). Used in a factory to lift a container has
a 200 kg weight to 30 m height at 40 sec. the counter balance mass is 40 kg. select the
appropriate induction motor to drive the load (find torque drive 𝑇𝐷 ).
consider that the motor you will be select must have this specifications 𝑛𝑠 =
1500 𝑟𝑝𝑚 , 𝑠𝑙𝑖𝑝 = 1.5 , 𝑝𝑜𝑙𝑒𝑠 = 6 𝑝𝑜𝑙𝑒𝑠 .the gearbox has 𝑟𝑔 =50 , 𝑛𝑓 = 0.85 . the flywheel
has inertia of 0.5 𝑘𝑔. 𝑚2. (neglecting motor, shaft and gearbox inertias).
Finally Assume that the speed time profile is triangular as shown in figure3.

Electrical Power
Source 𝑻𝑯𝑺𝑺 𝐼𝑓𝑙𝑦 = 0.5 𝑘𝑔. 𝑚2
𝑻𝑳𝑺𝑺 𝑠ℎ𝑒𝑎𝑣𝑒 𝑠𝑖𝑑𝑒 𝑣𝑖𝑒𝑤
3∅ 𝑻𝑫 𝑑𝑠 = 0.2 𝑚
𝐺𝑒𝑎𝑟𝑏𝑜𝑥 𝑻𝑳
𝐼𝑠 =
𝐼𝑛𝑑𝑢𝑐𝑡𝑖𝑜𝑛
𝑉𝑆𝐷 𝑀𝑜𝑡𝑜𝑟
𝑟𝑔 ∶ 1 0.2 𝑘𝑔. 𝑚2
𝜂𝑓
𝝎𝑯𝑺𝑺 𝝎𝑳𝑺𝑺
𝑐𝑜𝑛𝑡𝑟𝑜𝑙 𝑠𝑖𝑔𝑛𝑎𝑙 𝑚1 𝑚1
𝑡𝑎𝑐ℎ𝑜𝑚𝑒𝑡𝑒𝑟 Counter
𝑓𝑒𝑒𝑑𝑏𝑎𝑐𝑘 𝑠𝑖𝑔𝑛𝑎𝑙
𝐶𝑜𝑛𝑡𝑟𝑜𝑙𝑙𝑒𝑟 balance
𝒉= 40 𝑘𝑔
𝑖𝑛𝑝𝑢𝑡 𝑠𝑖𝑔𝑛𝑎𝑙 𝑣𝑚𝑎𝑥
𝑣(𝑡) 𝟑𝟎 𝒎
𝑇=
𝑖𝑛𝑝𝑢𝑡 𝑐𝑜𝑚𝑚𝑎𝑛𝑑 :
40 𝑠𝑒𝑐
𝑠𝑝𝑒𝑒𝑑_𝑡𝑖𝑚𝑒 𝑝𝑟𝑜𝑓𝑖𝑙𝑒
Container
𝑚2 𝑚2 200 kg
𝑇 = 40 𝑠𝑒𝑐 𝑡𝑖𝑚𝑒
𝑠𝑝𝑒𝑒𝑑_𝑡𝑖𝑚𝑒 𝑝𝑟𝑜𝑓𝑖𝑙𝑒

Figure 3: Hoisting System

Eng. Osama Abdulbaset

Q5:
+12 𝑣
a. Figure4: shows simple dc motor speed controller. +12 𝑣
𝐷𝐶
the ramp signal has a maximum value M 𝑚𝑜𝑡𝑜𝑟
of 12v and has a time Period of 1 𝑚𝑠.
-
1. if the motor speed equal 2800 rpm When
the motor voltage is 12 v. Find the motor +
speed when 𝑣𝑟𝑒𝑓 = 3 𝑣 ? +12 𝑣
2. Draw the output signal of the op-amp +𝜃𝑝𝑜𝑡
when 𝑣𝑟𝑒𝑓 = 3 𝑣 .
𝑣𝑟𝑒𝑓 = +3𝑣

Figure4: simple speed controller for DC motor

b. Draw the PWM signal thats move a digital servo motor

to the position of 𝜃 = 45° . as shown in figure5.

Figure 5: Digital Servo Motor

Eng. Osama Abdulbaset