EGR222 Mechatronics (EE variant: sections C, L4)


Catalog description

EGR-222. Mechatronics
Credits: 3
Introduction to mechatronics system design with emphasis on using sensors to convert engineering system information into an electrical domain, signal conditioning and hardware integration, programming, and using actuators to effect system changes. Two one-hour lecture and one three-hour lab per week.
Pre-Requisites:EE-211, EE-283, EGR-140 and PHY-202

Syllabus and Laboratory Exercises

This will be the supplemental class web site for lecture section C and labs section L4 for the Spring 2020 offering, EE version, of EGR222 Mechatronics. Various documents may be posted here, including some and supplemental descriptions, tutorials, and help. This is meant to be used in conjunction with other course documents.

Note that the lab sequence for section L4 (in SLC193, January 14) will be that we will do the second Lab session (LVDT/Position sensing) before doing the first Lab session (Temperature). Together these two exercises constitute "Lab 1". This is so that the equipment does not have to be used in two different labs (SLC193, SLC125) during the same week.

Materials for the 2020 offering:

  • Syllabus for EGR222 C, L4 2020
  • Laboratory Exercise #1 Position sensing (LVDT) (2019 version - see 2020 circuit below)
  • LVDT Circuit for Lab 1 LVDT
  • Laboratory Exercise #1 Temperature sensing: The lab exercise instructions
  • Type K thermocouple data: This is needed for the thermocouple calculations in Lab 1.
  • Lab #1 supplemental information: Additional background which will help students understand what they will be doing in the lab (from 2018).
  • Lab 8 comments Discussion of design aspects of Torque/Speed control
  • EGR222 Lab 9 Testing Recommendations on how to test your H bridge (non-destructively!)
  • Materials to further support Online Mode (starting March 15 2020)

    The novel coronavirus requires that we change things. As lecture and lab shift to online/distance mode, this will be where class reference materials will be posted. Interactions will be by email.
    Immediately below will be posted Lecture Notes. Initially these will be scanned copies of materials I've used in lectures going back to the creation of this course. In earlier years these used to be available on reserve in the library, but I stopped doing that when nobody used them. Under the circumstances, I think it is important to make them available again. I expect to add additional annotations and remarks later, but for now these are simply scanned. Also, I expect to go back and scan in earlier material on sensors and sensor conditioning. Later also some more microcontroller stuff will be added. You should read this stuff, since I will not be able to present it on the board.


    This is the introductory material from the beginning of the course. It discussed broad issues such as what a control system is, or what we mean by a system. What is Mechatronics. This is Chapter 1 material from the Bolton 4th edition book. These notes are meant to be a supplement to what's in the textbook. EGR222notes Introduction


    This section of notes covers sensors. Just what is a sensor, and what properties do sensors have, such as range and sensitivity. Then examples of sensors. This is meant to supplement coverage in the textbook's Chapter 2 (4th ed.). EGR222notes Sensors

    Sensor Conditioning

    Sensor conditioning is what needs to be done with the raw sensor signal to make it useful. That includes amplification, filtering, protection from noise or high Voltages and such. The op-amp is an important element in many such circuits. Conversion to digital form, using an A/D converter is also included in these notes. This material is meant to supplement what is in the respective text chapter, Chapter 3 in the 4th ed. EGR222notes Sensor Conditioning

    Data Representation

    When a sensor represents a real-world state variable as an electrical Voltage, that is a representation issue: how many Volts per degree, or per meter per second, for example. Sensor conditioning addresses that issue to a considerable extent. But in mechatronic systems, the sensor output eventually is converted into digital form. This material primarily addresses ways of representing that data inside the computer. That is important because, just like analog systems, digital computers may have limited resolution. In small systems they may be limited to 16 bits or fewer, without floating point that you used as a default in MATLAB in EGR140. These notes supplement what is in Chapter 4 of the 4th ed. Bolton text. EGR222notes Data Representation

    Mechanical Actuation

    These notes summarize some of the main points made about mechanical actuation. The textbook is pretty helpful here. We will see some of these components and techniques later in System Modeling. In the book 4th ed, this stuff is in Chapter 8 (Ch 6 earlier). EGR222notes Mechanical Actuation

    Electrical Actuation

    This material is very important (and long). This includes both strictly electrical components like transistors, but also motors and solenoids, with motors making up over 50 percent of the material of interest. These notes focus mostly on motors. This stuff is in Chapter 9 of the 4th edition of the Bolton textbook (Ch 7 earlier). Additional material or annotations may be added later. EGR222notes Electrical Actuation


    The first several pages of these notes contain material specific to the MC9HCS08QG8 microcontroller. The remainder are notes that were developed for the HC11 microcontroller used earlier. The QG8 is a more recent variation of the same microcontroller as the HC11, going back to the original 6800 from Motorola in about 1975. The registers and pins for the HC11 are different, but many of the principles are similar. The HC11 material goes into more (and useful) detail. It is worth taking a look at. This batch of notes is the early coverage; there is a second batch for later to support what we will be doing in the later labs. In the 4th edition of the textbook this stuff is in Chapter 17-20 (Ch 15ff earlier editions).EGR222notes Microcontroller

    System Modeling

    Modeling systems that include both mehanical and electrical components is really where we end up in this course. The idea ultimately is to represent the combined system as a set of simultaneous differential equations. The book materials (Chapter 10 in 4th Ed, 8 earlier) are pretty good as an introduction, but they treat each domain in isolation. The main System Modeling chapters (Chapter 11,12 in 4th ed, 9ff earlier) doesn't go far enough. These notes develop the concepts with a focus on the linear PM DC motors that we have been using throughout the course. This is important material. I expect to come back and add to and annotate it better in the future. EGR222notes Systems Modeling

    Here is another document for System Modeling. I generally spend an entire lecture session, or most of one, on the first page of the lecture notes above. There's a lot to be said. I have tried to say all that, and a little more, in this document. Consider this the lecture for Mar 16 2020.EGR222notes Systems Introduction

    We have been using PM DC motors as an actuator to build systems using both electrical and mechanical components. As we consider mechartonic systems (without the computer yet), these motors are a key way we can illustrate how to build system models that cross domain boundaries. Here are some example. (Consider these the notes for the lecture session of 23 March 2020. We also need to do some more with other types of motors, but we'll get to that later.) EGR222notes Motor Dynamics

    More on Microcontrollers (in general, and MC68HS11 with QG8 relevance

    This last file of notes constitutes the bulk of the microcontroller material available as an archive. Most of these notes are from back when the 68HC11 microcontroller (the 48 pin DIP at first) was being used. It is an earlier and simpler device thn the MC9S08QG8 currently being used. But, there are lots of similarities. The machine languages are even similar, except for the 68HC11 having an additional B accumulator and a combined A and B (called D) 16 bit accumulator. The MC9S08QG8 is simpler, hence the S. But the QG8 has more elaborate buit-in peripherals. There is enough similarity that I think these notes are worthwhile, especially since most of the content is generally applicable to any microcontroller. This is a big file, over 20MB, so wait for it if you download it. EGR222notes on Microcontrollers

    Materials from the 2018, 2019 offerings (likely 2020 too):

    Microcontroller labs for later in the course: These will be put out in a more updated form, but it may be of interest to see what is coming. (If you find this stuff interesting, also check out the Computer Engineering courses EE247, EE241, EE342, and EE345.)

  • Lab #7 (earlier version): The Microcontroller Introduction. This is a placeholder, which shows what we expect to be doing when we get to microcontrollers.
  • Lab #11 (earlier version):The Stepper Motor lab - very simple control of a stepper motor.
  • Lab #11 supplement: How to do the stepper motor using interrupts instead of busywait timing loops.
  • Lab #12 (earlier version): The digital PM DC motor speed control lab: We use speed sensing and feedback to control the speed of a small DC motor.
  • Lab #12 supplement: An enhancement of Lab 12 using interrupts.
  • Microcontroller reference materials:

  • Reference document for the MC9S08QG8 microcontroller
  • Starting a CW10 project: A short step-by-step help document. (The CD's with the microcontrollers have sample CW6 code, but it doesn't work right on Windows 7 or later. This may help.)
  • An introduction to C: A very basic introduction to C using Microsoft Visual Studio (which is on the engineering computers). This was originally written for EGR140.

  • Engineering laboratory Reports Manual: This is the reference to be used when preparing laboratory reports, especially formal reports.