Mechatronics with Experiments

Comprehensively covers the fundamental scientific principles and
technologies that are used in the design of modern
computer-controlled machines and processes.

• Covers embedded microcontroller based design of machines

• Includes MATLAB®/Simulink®-based embedded control
  software development

• Considers electrohydraulic motion control systems, with
  extensive applications in construction
  equipment industry

• Discusses electric motion control, servo systems, and
  coordinated multi-axis automated motion control for
  factory automation applications

• Accompanied by a website hosting a solution manual

Auteur

Professor Cetinkunt has been working in mechatronics field, in academic and industrial Environment, for the past twenty five years. He obtained his PhD in Robotics from Georgia Institute of Technology in 1987. His research has been funded by National Science Foundation, National Institute of Standards and Technology, and may companies including Caterpillar, Motorola and others.

Texte du rabat

Modern mechatronics is the intersection of Mechanical, Electrical/Electronics and Computer Engineering fields. The field of mechatronics studies embedded computer-controlled mechanical systems and virtually all traditionally mechanical systems are now controlled this way. This technological evolution has been in progress during the past 30 years whereby embedded computers have been introduced to the design of all mechanical systems.

• Mechatronics with Experiments, Second Edition* comprehensively covers the fundamental scientific principles and technologies that are used in the design of modern computer-controlled machines and processes. It provides all of the technical background (covering mechanical, aerospace, chemical, electrical, and computer engineering) needed for designing an automated machine or process. This new edition has also been updated to include a number of experiments involving electronic circuit design and microcontroller programming and includes real-time software development using MATLAB®, Simulink® and auto-code generation tools. Additional real world examples have been added to every chapter, with particular attention given to automotive powertrain control, electrohydraulic systems, control algorithm design methods. End of chapter problems are also included.

Key features:

• Covers embedded microcontroller based design of machines
• Includes MATLAB®/Simulink®-based embedded control software development
• Considers electrohydraulic motion control systems, with extensive applications in construction equipment industry
• Discusses electric motion control, servo systems, and coordinated multi-axis automated motion control for factory automation applications
• Accompanied by a website hosting a solution manual
  Mechatronics with Experiments, Second Edition is a must-have textbook for undergraduate and graduate students in mechanical, chemical, electrical and industrial engineering, and is also a useful reference for researchers and practitioners in industry.

Résumé
Comprehensively covers the fundamental scientific principles and technologies that are used in the design of modern computer-controlled machines and processes.

• Covers embedded microcontroller based design of machines
• Includes MATLAB®/Simulink®-based embedded control software development
• Considers electrohydraulic motion control systems, with extensive applications in construction equipment industry
• Discusses electric motion control, servo systems, and coordinated multi-axis automated motion control for factory automation applications
• Accompanied by a website hosting a solution manual

Contenu

PREFACE xi

ABOUT THE COMPANION WEBSITE xii

CHAPTER 1 INTRODUCTION 1

1.1 Case Study: Modeling and Control of Combustion Engines 16

1.2 Example: Electro-hydraulic Flight Control Systems for Commercial Airplanes 31

1.3 Embedded Control Software Development for Mechatronic Systems 38

1.4 Problems 43

CHAPTER 2 CLOSED LOOP CONTROL 45

2.1 Components of a Digital Control System 46

2.2 The Sampling Operation and Signal Reconstruction 48

2.3 Open Loop Control Versus Closed Loop Control 63

2.4 Performance Specifications for Control Systems 67

2.5 Time Domain and S-domain Correlation of Signals 69

2.6 Transient Response Specifications: Selection of Pole Locations 70

2.7 Steady-State Response Specifications 74

2.8 Stability of Dynamic Systems 76

2.9 Experimental Determination of Frequency Response 78

2.10 The Root Locus Method 89

2.11 Correlation Between Time Domain and Frequency Domain Information 93

2.12 Basic Feedback Control Types 97

2.13 Translation of Analog Control to Digital Control 125

2.14 Problems 128

CHAPTER 3 MECHANISMS FOR MOTION TRANSMISSION 133

3.1 Introduction 133

3.2 Rotary to Rotary Motion Transmission Mechanisms 136

3.3 Rotary to Translational Motion Transmission Mechanisms 139

3.4 Cyclic Motion Transmission Mechanisms 143

3.5 Shaft Misalignments and Flexible Couplings 153

3.6 Actuator Sizing 154

3.7 Homogeneous Transformation Matrices 162

3.8 A Case Study: Automotive Transmission as a Gear Reducer 172

3.9 Problems 201

CHAPTER 4 MICROCONTROLLERS 207

4.1 Embedded Computers versus Non-Embedded Computers 207

4.2 Basic Computer Model 214

4.3 Microcontroller Hardware and Software: PIC 18F452 218

4.4 Interrupts 235

4.5 Problems 243

CHAPTER 5 ELECTRONIC COMPONENTS FOR MECHATRONIC SYSTEMS 245

5.1 Introduction 245

5.2 Basics of Linear Circuits 245

5.3 Equivalent Electrical Circuit Methods 249

5.4 Impedance 252

5.5 Semiconductor Electronic Devices 260

5.6 Operational Amplifiers 282

5.7 Digital Electronic Devices 308

5.8 Digital and Analog I/O and Their Computer Interface 314

5.9 D/A and A/D Converters and Their Computer Interface 318

5.10 Problems 324

CHAPTER 6 SENSORS 329

6.1 Introduction to Measurement Devices 329

6.2 Measurement Device Loading Errors 333

6.3 Wheatstone Bridge Circuit 335

6.4 Position Sensors 339

6.5 Velocity Sensors 362

6.6 Acceleration Sensors 365

6.7 Strain, Force, and Torque Sensors 372

6.8 Pressure Sensors 376

6.9 Temperature Sensors 381

6.10 Flow Rate Sensors 385

6.11 Humidity Sensors 393

6.12 Vision Systems 394

6.13 GPS: Global Positioning System 397

6.14 Problems 403

CHAPTER 7 ELECTROHYDRAULIC MOTION CONTROL SYSTEMS 407

7.1 Introduction 407

7.2 Fundamental Physical Principles 425

7.3 Hydraulic Pumps 437

7.4 Hydraulic Actuators: Hydraulic Cylinder and Rotary Motor 457

7.5 Hydraulic Valves 461

7.6 Sizing of Hydraulic Motion System Components 507

7.7 Hydraulic Motion Axis Natural Frequency and Bandwidth Limit 518

7.8 Linear Dynamic Model of a One-Axis Hydraulic Motion System 520

7.9 Nonlinear Dynamic Model of One-Axis Hydraulic Motion System 527

7.10 Example: Open Center Hydraulic System Force and Speed Modulation Curves in Steady State 571

7.11 Example: Hydrostatic Transmissions 576

7.12 Current Trends in Electrohydraulics 586

7.13 Case Studies 589

7.14 Problems 593

CHAPTER 8 ELECTRIC ACTUATORS: MOTOR AND DRIVE TECHNOLOGY 603 <p&g...