Syllabus - Robotic Control Systems and Microcontrollers (RM-403)

Robotics and Mechatronics Engineering

Robotic Control Systems and Microcontrollers (RM-403)

IV

Introduction to control system and control approaches of Robots

Types of control system and their utility. Hydraulic power generation and transmission, valve control pressure flow relationship for hydraulic valves, valve configurations and constructions, steady state operating forces, transient forces and valve instability. Circuit design, Pneumatic valves, Dynamic response gearing and control approaches of Robots, Control loops using Current amplifier.

Introduction to Programmable Logic Controllers

Definitions of PLC, basic structure of PLC, working principles, data storage methods, inputs / outputs flag processing’s, types of variables, definition of firmware, software, programming software tool and interfacing with PC (RS232 & TCP-IP), methods of PLC programming (LD, ST, FBD & SFC), function blocks logical / mathematical operators & data types, array & data structure, PID, types of tasks and configuration, difference between relay logic and PLC, selection of PLC controller.

Logic, instructions & Application of PLC

What is logic, Conventional Ladder v/s PLCladder, series and parallel function of OR, AND, NOT logic, Ex Or logic, Analysis of rung. Timer and Counter Instructions; on delay and Off delay and retentive timer instructions, PLC counter up and down instructions, combining counters and timers, Comparison and data handling instructions, Sequencer instruction, Visualization Systems, Types of visualization system, PC based Controller, Applications of HMI’s.

Introduction of Microcontrollers

Block diagram of microcontroller : CPU, input device, output device, memory and buses, common features of Microcontrollers : On-chip Oscillator, program and data memory, I/O Ports, Watchdog- timer reset, SFRs, Timers, Counters, Interrupts, ADC, PWM, microprocessor and microcontroller, Hierarchy of microcontrollers, architectures of microcontroller Harvard , Von Neumann RISC and CISC, applications of microcontrollers.

8051 Microcontroller Hardware

Blocks of Microcontroller 8051: ALU, PC, DPTR, PSW, Internal RAM, Internal ROM, Latch, SFRs, General purpose registers, Timer/Counter, Interrupt, Ports, Functions of each pin of 8051, Clock circuit, reset Circuit , phase and state in machine cycle of 8051.

Course Objective

To understand about control system, its types and control approaches of Robots. To learn PLC, basic structure of PLC and methods of PLC programming. To know about the logic, instructions and application of PLC. To learn about basic components of Microcontroller. To understand the concept of working of 8051 microcontroller.

Practicals

  • To study hydraulic and pneumatic valves

  • To study basic structure of PLC, working principle and data storage methods

  • To familiarize with Programmable Logic Controllers (PLC) as hardware and the software used to program

  • To familiarize with programming PLC using ladder logic diagrams in order to control an electro-pneumatic system

  • Write (draw) the ladder diagrams that do all the following logical functions: Q 0.1 = NOT I0.1 Q 0.2 = I0.2 (OR) I0.3 Q 0.3 = I0.4 (AND) I0.5 Q 0.4 = I1.2 (XOR) I1.3

  • To study various methods of PLC programming

  • To identify various blocks of 8051 microcontroller development board

  • To test and verify the features of 8051 Trainer Kit

  • To develop a practical application using 8051 Microcontroller

Reference Books

  • Programmable Logic Controllers by W.Bolton

  • S.K.Pillai. A First course on electric drives –Wiley Eastern 1990

  • Programmable Logic Controllers by Hugh Jack

  • Introduction to Programmable Logic Controllers by Garry Dunning, 2nd edition, Thomson, ISBN:981-240-625-5

  • Instrumentation Engineers Hand Book - Process Control, Bela G Liptak, Chilton book company, Pennsylvania

  • A.E. Fitzerald ,C.Kingsley and S.D Umans, Electric Machinery - McGraw Hill Int.

  • S.K.Pillai. A First course on electric drives –Wiley Eastern 1990 5.Programmable Logic Controllers by Hugh Jack

  • J.F. Blackburn, G. Rechthof, J.L. Shearer. Fluid Power Control MIT, 1960

  • B.W. Anderson, The Analysis and Design of Pneumatic Systems, Wiley, 1967

  • Pal Ajit ,Microcontrollers : Principles And Applications, EEE, PHI ,New Delhi,(Latest edition)

  • Rao Dr. K Uma, The 8051 Microcontrollers: Architecture, Programming and Applications, Pearson Education India, New Delhi,(Latest edition)

  • Mazidi Ali, Muhammad Mazidi Gillispie Janice, The 8051 microcontroller and embedded systems, PHI, New Delhi,(Latest edition)