a multidisciplinary approach - gbv
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MECHATRONICS A MULTIDISCIPLINARY APPROACH
Fifth Edition
William Bolton
PEARSON
Harlow, England * London • New York • Boston • San Francisco • Toronto • Sydney • Auckland • Singapore • Hong Kong
Tokyo • Seoul • Taipei • New Delhi • Cape Town • Säo Paulo • Mexico City • Madrid • Amsterdam * Munich • Paris • Milan
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Contents !">, ШННРЯпм! мпНЯ
Preface 3. Signal Conditioning 69
I. INTRODUCTION
1. Introducing Mechatronics
Chapter objectives 3 1.1 What is mechatronics? 3 1.2 The design process 5 1.3 Systems 6 1.4 Measurement systems 8 1.5 Control systems 9 1.6 Programmable logic controller 21 1.7 Examples of mechatronic systems 22
Summary 25 Problems 26
II. SENSORS AND SIGNAL CONDITIONING 27
2. Sensors and Transducers 29
Chapter objectives 29 2.1 Sensors and transducers 29 2.2 Performance terminology 30 2.3 Displacement, position and proximity 35 2.4 Velocity and motion 46 2.5 Force 49 2.6 Fluid pressure 50 2.7 Liquid flow 54 2.8 Liquid level 55 2.9 Temperature 56 2.10 Light sensors 61 2.11 Selection of sensors 62 2.12 Inputting data by switches 63
Summary 65 Problems 66
Chapter objectives 3.1 Signal conditioning 3.2 The operational amplifier 3.3 Protection 3.4 Filtering 3.5 Wheatstone bridge 3.6 Pulse modulation 3.7 Problems with signals 3.8 Power transfer
Summary Problems
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Chapter objectives 4.1 Digital signals 4.2 Analogue and digital signals 4.3 Digital-to-analogue and analogue-to-digital
converters 4.4 Multiplexers 4.5 Data acquisition 4.6 Digital signal processing
Summary Problems
5. Digital Logic
Chapter objectives 5.1 Digital logic 5.2 Logic gates 5.3 Applications of logic gates 5.4 Sequential logic
Summary Problems
69 69 70 81 83 84 88 89 92 92 93
95 95 95
99 105 106 109 110 110
112 112 113 120 126 133 133
vi CONTENTS
6. Data Presentation Systems
Chapter objectives 6.1 Displays 6.2 Data presentation elements 6.3 Magnetic recording 6.4 Optical recording 6.5 Displays 6.6 Data acquisition systems 6.7 Measurement systems 6.8 Testing and calibration
Summary Problems
9. Electrical Actuation Systems
136 136 137 142
146 147 151 155
158 160 160
9.1 9.2 9.3 9.4 9.5 9.6 9.7 9.8
Chapter objectives
Electrical systems Mechanical switches Solid-state switches Solenoids D.C. motors A.C. motors Stepper motors Motor selection Summary Problems
207 207 207 209 215 217
227 234 237 237
III. ACTUATION 163 IV. SYSTEM MODELS
Chapter objectives 7.1 Actuation systems 7.2 Pneumatic and hydraulic systems 7.3 Directional control valves 7.4 Pressure control valves 7.5 Cylinders 7.6 Servo and proportional control valves 7.7 Process control valves 7.8 Rotary actuators
Summary Problems
165 165 165 169 173 175 178 180 185 186 186
10. Basic System Models
Chapter objectives 10.1 Mathematical models 10.2 Mechanical system building blocks 10.3 Electrical system building blocks 10.4 Fluid system building blocks 10.5 Thermal system building blocks
Summary Problems
11. System Models
239
241
241 241 242 250 254 261 264 265
Mechanical Actuation Systems
8.1 8.2 8.3 8.4 8.5 8.6 8.7
8.8
Chapter objectives
Mechanical systems Types of motion Kinematic chains
Cams Gears Ratchet and pawl Belt and chain drives Bearings Summary Problems
188 188 189 191 194 196 200 200 202 204 205
Chapter objectives 11.1 Engineering systems 11.2 Rotational-translational systems 11.3 Electro-mechanical systems 11.4 Linearity 11.5 Hydraulic-mechanical systems
Summary Problems
12. Dynamic Responses of Systems
Chapter objectives 12.1 Modelling dynamic systems 12.2 Terminology
H
267 267 267 268 271 273 276 276
277 277 278
CONTENTS vii
12.3 First-order systems 280 12.4 Second-order systems 286 12.5 Performance measures for second-order systems 292 12.6 System identification 295
Summary 295 Problems 297
15.12 Adaptive control Summary Problems
351 354 355
13. System Transfer Functions 299
Chapter objectives 299 13.1 The transfer function 299 13.2 First-order systems 302 13.3 Second-order systems 304 13.4 Systems in series 306 13.5 Systems with feedback loops 307 13.6 Effect of pole location on transient response 308
Summary 312 Problems 312
Chapter objectives 16.1 What is meant by artificial intelligence? 16.2 Perception and cognition 16.3 Reasoning 16.4 Learning
Summary Problems
V. MICROPROCESSOR SYSTEMS
356 356 356 358 361 362 362
363
17. Microprocessors
14. Frequency Response
Chapter objectives 14.1 Sinusoidal input 14.2 Phasors 14.3 Frequency response 14.4 Bode plots 14.5 Performance specifications 14.6 Stability
Summary Problems
Ш Н Н Н М М Н Н М 15. Closed-loop Controllers
Chapter objectives 15.1 Continuous and discrete control processes 15.2 Terminology 15.3 Two-step mode 15.4 Proportional mode 15.5 Derivative control 15.6 Integral control 15.7 PID controller 15.8 Digital controllers 15.9 Control system performance 15.10 Controller tuning 15.11 Velocity control
314 314 315 317 320 329 330 331 332
333
333 333 335 337 338 340 342 344 345 348 349 351
Chapter objectives 17.1 Control 17.2 Microprocessor systems 17.3 Microcontrollers 17.4 Applications 17.5 Programming
Summary Problems
18. Assembly Language
Chapter objectives 18.1 Languages 18.2 Instruction sets 18.3 Assembly language programs 18.4 Subroutines 18.5 Look-up tables 18.6 Embedded systems
Summary Problems
19. С Language
Chapter objectives 19.1 WhyC? 19.2 Program structure
365 365 365 377 394 396 399 399
400 400 401 407 412 415 418 422 422
424
424 424 424
viii CONTENTS
19.3 Branches and loops 19.4 Arrays 19.5 Pointers 19.6 Program development 19.7 Examples of programs
Summary Problems
431 435 436 438 439 441 442
22.3 Networks 22.4 Protocols 22.5 Open Systems Interconnection
communication model 22.6 Serial communication interfaces 22.7 Parallel communication interfaces 22.8 Wireless protocols
Summary Problems
497 499
500 503 509 512 513 513
Chapter objectives 20.1 Interfacing 20.2 Input/output addressing 20.3 Interface requirements 20.4 Peripheral interface adapters 20.5 Serial communications interface 20.6 Examples of interfacing
Summary Problems
шшшштт 21. Programmable Logic Controllers
444 444 444 447 454 459 462 465 466
467
Chapter objectives 23.1 Fault-detection techniques 23.2 Watchdog timer 23.3 Parity and error coding checks 23.4 Common hardware faults 23.5 Microprocessor systems 23.6 Emulation and simulation 23.7 PLC systems
Summary Problems
515 515 516 517 518 520 523 525 527 528
Chapter objectives 21.1 Programmable logic controller 21.2 Basic PLC structure 21.3 Input/output processing 21.4 Ladder programming 21.5 Instruction lists 21.6 Latching and internal relays 21.7 Sequencing 21.8 Timers and counters 21.9 Shift registers 21.10 Master and jump controls 21.11 Data handling 21.12 Analogue input/output
Summary Problems
22. Communication Systems яяш^явшяяяямяшшяшяяшяяшшвяяшш
Chapter objectives 22.1 Digital communications 22.2 Centralised, hierarchical and distributed control
467 467 467 471 472 476 479 481 482 485 486 487 489 491 492
494
494 494 494
VI. CONCLUSION
24. Mechatronic Systems
Chapter objectives 24.1 Mechatronic designs 24.2 Case studies
Summary Problems and assignments
Appendices A The Laplace Transform В Number Systems С Boolean Algebra D Instruction Sets E С Library Functions F MATLAB and SIMULINK G Electrical Circuit Analysis
Further information Answers Index
529
531 531 542 556 556
559 561 571 577 586 591 594 600
610 612 627