Mechatronic systems integration
# 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)
# 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) |
# |----[ )[ ]----( )----|
# 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 | 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 |
# 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)
# 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
}
}