Table Of ContentMECHATRONICS
SECONDEDITION
MECHATRONICS
with Experiments
SABRI CETINKUNT
UniversityofIllinoisatChicago,USA
Thiseditionfirstpublished2015
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LibraryofCongressCataloging-in-PublicationData
Cetinkunt,Sabri.
[Mechatronics]
Mechatronicswithexperiments/SabriCetinkunt.–Secondedition.
pagescm
RevisededitionofMechatronics/SabriCetinkunt.2007
Includesbibliographicalreferencesandindex.
ISBN978-1-118-80246-5(cloth)
1.Mechatronics. I.Title.
TJ163.12.C432015
621.381–dc23
2014032267
AcataloguerecordforthisbookisavailablefromtheBritishLibrary.
ISBN:9781118802465
Setin10/12ptTimesbyAptaraInc.,NewDelhi,India
1 2015
CONTENTS
PREFACE xi 2.3 OpenLoopControlVersus
ClosedLoopControl 63
ABOUTTHECOMPANIONWEBSITE xii 2.4 PerformanceSpecificationsfor
ControlSystems 67
CHAPTER1 INTRODUCTION 1
2.5 TimeDomainandS-domain
1.1 CaseStudy:Modelingand CorrelationofSignals 69
ControlofCombustionEngines 16 2.6 TransientResponse
1.1.1 DieselEngine Specifications:Selectionof
Components 17 PoleLocations 70
1.1.2 EngineControlSystem 2.6.1 StepResponseofa
Components 23 Second-OrderSystem 70
1.1.3 EngineModelingwith 2.6.2 StandardFilters 74
LugCurve 25 2.7 Steady-StateResponse
1.1.4 EngineControl Specifications 74
Algorithms:Engine 2.8 StabilityofDynamicSystems 76
SpeedRegulation 2.8.1 BoundedInput–Bounded
usingFuelMapanda OutputStability 77
ProportionalControl 2.9 ExperimentalDeterminationof
Algorithm 29 FrequencyResponse 78
1.2 Example:Electro-hydraulic 2.9.1 Graphical
FlightControlSystemsfor Representationof
CommercialAirplanes 31 FrequencyResponse 79
1.3 EmbeddedControlSoftware 2.9.2 StabilityAnalysisin
DevelopmentforMechatronic theFrequency
Systems 38 Domain:Nyquist
1.4 Problems 43 StabilityCriteria 87
2.10 TheRootLocusMethod 89
CHAPTER2 CLOSEDLOOP 2.11 CorrelationBetweenTime
CONTROL 45 DomainandFrequencyDomain
Information 93
2.1 ComponentsofaDigital
2.12 BasicFeedbackControlTypes 97
ControlSystem 46 2.12.1 ProportionalControl 100
2.2 TheSamplingOperationand
2.12.2 DerivativeControl 101
SignalReconstruction 48 2.12.3 IntegralControl 102
2.2.1 Sampling:A/D
2.12.4 PIControl 103
Operation 48 2.12.5 PDControl 106
2.2.2 SamplingCircuit 48 2.12.6 PIDControl 107
2.2.3 Mathematical
2.12.7 Practical
Idealizationofthe
ImplementationIssues
SamplingCircuit 50 ofPIDControl 111
2.2.4 SignalReconstruction:
2.12.8 TimeDelayinControl
D/AOperation 55 Systems 117
2.2.5 Real-timeControl
2.13 TranslationofAnalogControl
UpdateMethodsand
toDigitalControl 125
TimeDelay 58 2.13.1 FiniteDifference
2.2.6 Filteringand
Approximations 126
BandwidthIssues 60 2.14 Problems 128
v
vi CONTENTS
CHAPTER3 MECHANISMSFOR 4.2 BasicComputerModel 214
MOTIONTRANSMISSION 133 4.3 MicrocontrollerHardwareand
Software:PIC18F452 218
3.1 Introduction 133 4.3.1 Microcontroller
3.2 RotarytoRotaryMotion
Hardware 220
TransmissionMechanisms 136 4.3.2 Microprocessor
3.2.1 Gears 136 Software 224
3.2.2 BeltandPulley 138 4.3.3 I/OPeripheralsofPIC
3.3 RotarytoTranslationalMotion
18F452 226
TransmissionMechanisms 139 4.4 Interrupts 235
3.3.1 Lead-Screwand
4.4.1 GeneralFeaturesof
Ball-Screw
Interrupts 235
Mechanisms 139 4.4.2 InterruptsonPIC
3.3.2 RackandPinion
18F452 236
Mechanism 142 4.5 Problems 243
3.3.3 BeltandPulley 142
3.4 CyclicMotionTransmission CHAPTER5 ELECTRONIC
Mechanisms 143 COMPONENTSFOR
3.4.1 Linkages 143 MECHATRONICSYSTEMS 245
3.4.2 Cams 145
3.5 ShaftMisalignmentsand 5.1 Introduction 245
FlexibleCouplings 153 5.2 BasicsofLinearCircuits 245
3.6 ActuatorSizing 154 5.3 EquivalentElectricalCircuit
3.6.1 InertiaMatchBetween Methods 249
MotorandLoad 160 5.3.1 Thevenin’sEquivalent
3.7 HomogeneousTransformation Circuit 249
Matrices 162 5.3.2 Norton’sEquivalent
3.8 ACaseStudy:Automotive Circuit 250
Transmissionasa“Gear 5.4 Impedance 252
Reducer” 172 5.4.1 ConceptofImpedance 252
3.8.1 TheNeedfora 5.4.2 Amplifier:Gain,Input
Gearbox Impedance,and
“Transmission”in OutputImpedance 257
Automotive 5.4.3 InputandOutput
Applications 172 LoadingErrors 258
3.8.2 Automotive 5.5 SemiconductorElectronic
Transmission:Manual Devices 260
ShiftType 174 5.5.1 Semiconductor
3.8.3 PlanetaryGears 178 Materials 260
3.8.4 TorqueConverter 186 5.5.2 Diodes 263
3.8.5 ClutchesandBrakes: 5.5.3 Transistors 271
MultiDiscType 192 5.6 OperationalAmplifiers 282
3.8.6 Example:An 5.6.1 BasicOp-Amp 282
Automatic 5.6.2 CommonOp-Amp
TransmissionControl Circuits 290
Algorithm 194 5.7 DigitalElectronicDevices 308
3.8.7 Example:Powertrain 5.7.1 LogicDevices 309
ofArticulatedTrucks 196 5.7.2 Decoders 309
3.9 Problems 201 5.7.3 Multiplexer 309
5.7.4 Flip-Flops 310
5.8 DigitalandAnalogI/Oand
CHAPTER4 TheirComputerInterface 314
MICROCONTROLLERS 207 5.9 D/AandA/DConvertersand
TheirComputerInterface 318
4.1 EmbeddedComputersversus
5.10 Problems 324
Non-EmbeddedComputers 207
CONTENTS vii
CHAPTER6 SENSORS 329 6.9.2 TemperatureSensors
BasedonResistance 382
6.1 IntroductiontoMeasurement
6.9.3 Thermocouples 383
Devices 329 6.10 FlowRateSensors 385
6.2 MeasurementDeviceLoading
6.10.1 MechanicalFlowRate
Errors 333 Sensors 385
6.3 WheatstoneBridgeCircuit 335 6.10.2 DifferentialPressure
6.3.1 NullMethod 336 FlowRateSensors 387
6.3.2 DeflectionMethod 337 6.10.3 FlowRateSensor
6.4 PositionSensors 339 BasedonFaraday’s
6.4.1 Potentiometer 339 InductionPrinciple 389
6.4.2 LVDT,Resolver,and
6.10.4 ThermalFlowRate
Syncro 340 Sensors:HotWire
6.4.3 Encoders 346 Anemometer 390
6.4.4 HallEffectSensors 351 6.10.5 MassFlowRate
6.4.5 CapacitiveGap
Sensors:CoriolisFlow
Sensors 353 Meters 391
6.4.6 Magnetostriction
6.11 HumiditySensors 393
PositionSensors 354 6.12 VisionSystems 394
6.4.7 SonicDistanceSensors 356 6.13 GPS:GlobalPositioningSystem 397
6.4.8 PhotoelecticDistance
6.13.1 OperatingPrinciplesof
andPresenceSensors 357 GPS 399
6.4.9 PresenceSensors:
6.13.2 SourcesofErrorin
ON/OFFSensors 360 GPS 402
6.5 VelocitySensors 362 6.13.3 DifferentialGPS 402
6.5.1 Tachometers 362 6.14 Problems 403
6.5.2 DigitalDerivationof
VelocityfromPosition CHAPTER7 ELECTROHYDRAULIC
Signal 364 MOTIONCONTROLSYSTEMS 407
6.6 AccelerationSensors 365
6.6.1 Inertial 7.1 Introduction 407
Accelerometers 366 7.2 FundamentalPhysical
6.6.2 Piezoelectric Principles 425
Accelerometers 370 7.2.1 AnalogyBetween
6.6.3 Strain-gaugeBased Hydraulicand
Accelerometers 371 ElectricalComponents 429
6.7 Strain,Force,andTorque 7.2.2 EnergyLossand
Sensors 372 PressureDropin
6.7.1 StrainGauges 372 HydraulicCircuits 431
6.7.2 ForceandTorque 7.3 HydraulicPumps 437
Sensors 373 7.3.1 TypesofPositive
6.8 PressureSensors 376 DisplacementPumps 438
6.8.1 DisplacementBased 7.3.2 PumpPerformance 443
PressureSensors 378 7.3.3 PumpControl 448
6.8.2 Strain-GaugeBased 7.4 HydraulicActuators:Hydraulic
PressureSensor 379 CylinderandRotaryMotor 457
6.8.3 PiezoelectricBased 7.5 HydraulicValves 461
PressureSensor 380 7.5.1 PressureControl
6.8.4 CapacitanceBased Valves 463
PressureSensor 380 7.5.2 Example:Multi
6.9 TemperatureSensors 381 FunctionHydraulic
6.9.1 TemperatureSensors CircuitwithPoppet
BasedonDimensional Valves 469
Change 381 7.5.3 FlowControlValves 471
viii CONTENTS
7.5.4 Example:AMulti 8.1.2 ElectricFieldsand
FunctionHydraulic MagneticFields 610
Circuitusing 8.1.3 PermanentMagnetic
Post-Pressure Materials 622
Compensated 8.2 EnergyLossesinElectric
ProportionalValves 482 Motors 629
7.5.5 Directional, 8.2.1 ResistanceLosses 631
Proportional,and 8.2.2 CoreLosses 632
ServoValves 484 8.2.3 FrictionandWindage
7.5.6 MountingofValvesin Losses 633
aHydraulicCircuit 496 8.3 Solenoids 633
7.5.7 Performance 8.3.1 OperatingPrinciplesof
Characteristicsof Solenoids 633
ProportionalandServo 8.3.2 DCSolenoid:
Valves 497 Electromechanical
7.6 SizingofHydraulicMotion DynamicModel 636
SystemComponents 507 8.4 DCServoMotorsandDrives 640
7.7 HydraulicMotionAxisNatural 8.4.1 OperatingPrinciplesof
FrequencyandBandwidthLimit 518 DCMotors 642
7.8 LinearDynamicModelofa 8.4.2 DrivesforDC
One-AxisHydraulicMotion Brush-typeand
System 520 BrushlessMotors 650
7.8.1 PositionControlled 8.5 ACInductionMotorsandDrives 659
Electrohydraulic 8.5.1 ACInductionMotor
MotionAxes 523 OperatingPrinciples 660
7.8.2 LoadPressure 8.5.2 DrivesforAC
Controlled InductionMotors 666
Electrohydraulic 8.6 StepMotors 670
MotionAxes 526 8.6.1 BasicStepperMotor
7.9 NonlinearDynamicModelof OperatingPrinciples 672
One-AxisHydraulicMotion 8.6.2 StepMotorDrives 677
System 527 8.7 LinearMotors 681
7.10 Example:OpenCenter 8.8 DCMotor:Electromechanical
HydraulicSystem–Forceand DynamicModel 683
SpeedModulationCurvesin 8.8.1 VoltageAmplifier
SteadyState 571 DrivenDCMotor 687
7.11 Example:Hydrostatic 8.8.2 CurrentAmplifier
Transmissions 576 DrivenDCMotor 687
7.12 CurrentTrendsin 8.8.3 Steady-State
Electrohydraulics 586 Torque-Speed
7.13 CaseStudies 589 CharacteristicsofDC
7.13.1 CaseStudy:Multi MotorUnderConstant
FunctionHydraulic TerminalVoltage 688
CircuitofaCaterpillar 8.8.4 Steady-State
WheelLoader 589 Torque-Speed
7.14 Problems 593 CharacteristicofaDC
MotorUnderConstant
CHAPTER8 ELECTRIC CommandedCurrent
ACTUATORS:MOTORANDDRIVE Condition 689
TECHNOLOGY 603 8.9 Problems 691
8.1 Introduction 603 CHAPTER9 PROGRAMMABLE
8.1.1 Steady-State
LOGICCONTROLLERS 695
Torque-SpeedRange,
Regeneration,and 9.1 Introduction 695
PowerDumping 606
