Preface xi
I. Introduction 1
1. Introducing mechatronics 3
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
3. Signal conditioning 69
chapter objectives 69
3.1 signal conditioning 69
3.2 the operational amplifier 70
3.3 Protection 81
3.4 Filtering 83
3.5 Wheatstone bridge 84
3.6 Pulse modulation 88
3.7 Problems with signals 89
3.8 Power transfer 92
summary 92
Problems 93
4. Digital signals 95
chapter objectives 95
4.1 Digital signals 95
4.2 analogue and digital signals 95
4.3 Digital-to-analogue and analogue-to-digital converters 99
4.4 Multiplexers 105
4.5 Data acquisition 106
4.6 Digital signal processing 109
summary 110
Problems 110
5. Digital logic 112
chapter objectives 112
5.1 Digital logic 112
5.2 Logic gates 113
5.3 applications of logic gates 120
5.4 sequential logic 126
summary 133
Problems 133
6. Data presentation systems 136
chapter objectives 136
6.1 Displays 136
6.2 Data presentation elements 137
6.3 Magnetic recording 142
6.4 optical recording 146
6.5 Displays 147
6.6 Data acquisition systems 151
6.7 Measurement systems 155
6.8 testing and calibration 158
summary 160
Problems 160
III. Actuation 163
7. Pneumatic and hydraulic actuation systems 165
chapter objectives 165
7.1 actuation systems 165
7.2 Pneumatic and hydraulic systems 165
7.3 Directional control valves 169
7.4 Pressure control valves 173
7.5 cylinders 175
7.6 servo and proportional control valves 178
7.7 Process control valves 180
7.8 rotary actuators 185
summary 186
Problems 186
8. Mechanical actuation systems 188
chapter objectives 188
8.1 Mechanical systems 188
8.2 types of motion 189
8.3 Kinematic chains 191
8.4 cams 194
8.5 Gears 196
8.6 ratchet and pawl 200
8.7 Belt and chain drives 200
8.8 Bearings 202
summary 204
Problems 205
9. Electrical actuation systems 207
chapter objectives 207
9.1 electrical systems 207
9.2 Mechanical switches 207
9.3 solid-state switches 209
9.4 solenoids 215
9.5 Direct current motors 217
9.6 alternating current motors 225
9.7 stepper motors 227
9.8 Motor selection 234
summary 237
Problems 237
IV. Microprocessor systems 239
10. Microprocessors and microcontrollers 241
chapter objectives 241
10.1 control 241
10.2 Microprocessor systems 241
10.3 Microcontrollers 253
10.4 applications 272
10.5 Programming 274
summary 277
Problems 277
11. Assembly language 278
chapter objective 278
11.1 Languages 278
11.2 instruction sets 279
11.3 assembly language programs 285
11.4 subroutines 290
11.5 Look-up tables 293
11.6 embedded systems 296
summary 300
Problems 300
12. C language 302
chapter objectives 302
12.1 Why c? 302
12.2 Program structure 302
12.3 Branches and loops 309
12.4 arrays 313
12.5 Pointers 315
12.6 Program development 316
12.7 examples of programs 317
12.8 arduino programs 320
summary 323
Problems 324
13. Input/output systems 326
chapter objectives 326
13.1 interfacing 326
13.2 input/output addressing 326
13.3 interface requirements 329
13.4 Peripheral interface adapters 336
13.5 serial communications interface 341
13.6 examples of interfacing 344
summary 347
Problems 348
14. Programmable logic controllers 349
chapter objectives 349
14.1 Programmable logic controller 349
14.2 Basic PLc structure 349
14.3 input/output processing 353
14.4 Ladder programming 354
14.5 instruction lists 358
14.6 Latching and internal relays 361
14.7 sequencing 363
14.8 timers and counters 364
14.9 shift registers 367
14.10 Master and jump controls 368
14.11 Data handling 369
14.12 analogue input/output 371
summary 373
Problems 374
15. Communication systems 376
chapter objectives 376
15.1 Digital communications 376
15.2 centralised, hierarchical and distributed control 376
15.3 networks 379
15.4 Protocols 381
15.5 open systems interconnection communication model 382
15.6 serial communication interfaces 385
15.7 Parallel communication interfaces 391
15.8 Wireless protocols 394
summary 395
Problems 395
16. Fault finding 397
chapter objectives 397
16.1 Fault-detection techniques 397
16.2 Watchdog timer 398
16.3 Parity and error coding checks 399
16.4 common hardware faults 400
16.5 Microprocessor systems 402
16.6 emulation and simulation 405
16.7 PLc systems 407
summary 409
Problems 410
V. System models 411
17. Basic system models 413
chapter objectives 413
17.1 Mathematical models 413
17.2 Mechanical system building blocks 414
17.3 electrical system building blocks 422
17.4 Fluid system building blocks 426
17.5 thermal system building blocks 433
summary 436
Problems 437
18. System models 439
chapter objectives 439
18.1 engineering systems 439
18.2 rotational–translational systems 439
18.3 electro-mechanical systems 440
18.4 Linearity 443
18.5 hydraulic–mechanical systems 445
summary 448
Problems 448
19. Dynamic responses of systems 449
chapter objectives 449
19.1 Modelling dynamic systems 449
19.2 terminology 450
19.3 First-order systems 452
19.4 second-order systems 458
19.5 Performance measures for second-order systems 464
19.6 system identification 467
summary 467
Problems 469
20. System transfer functions 471
chapter objectives 471
20.1 the transfer function 471
20.2 First-order systems 474
20.3 second-order systems 476
20.4 systems in series 478
20.5 systems with feedback loops 479
20.6 effect of pole location on transient response 480
summary 484
Problems 484
21. Frequency response 486
chapter objectives 486
21.1 sinusoidal input 486
21.2 Phasors 487
21.3 Frequency response 489
21.4 Bode plots 492
21.5 Performance specifications 501
21.6 stability 502
summary 503
Problems 504
22. Closed-loop controllers 505
chapter objectives 505
22.1 continuous and discrete control processes 505
22.2 terminology 507
22.3 two-step mode 509
22.4 Proportional mode 510
22.5 Derivative control 512
22.6 integral control 514
22.7 PiD controller 516
22.8 Digital controllers 517
22.9 control system performance 520
22.10 controller tuning 521
22.11 Velocity control 523
22.12 adaptive control 523
summary 526
Problems 527
23. Artificial intelligence 528
chapter objectives 528
23.1 What is meant by artificial intelligence? 528
23.2 Perception and cognition 528
23.3 reasoning 530
23.4 Learning 533
summary 534
Problems 534
VI. Conclusion 535
24. Mechatronic systems 537
chapter objectives 537
24.1 Mechatronic designs 537
24.2 case studies 548
24.3 robotics 563
summary 567
Problems 567
research assignments 568
Design assignments 568
Appendices 569
A The Laplace transform 571
a.1 the Laplace transform 571
a.2 Unit steps and impulses 572
a.3 standard Laplace transforms 574
a.4 the inverse transform 578 Problems 580
B Number systems 581
B.1 number systems 581
B.2 Binary mathematics 582
B.3 Floating numbers 585
B.4 Gray code 585
Problems 586
C Boolean algebra 587
c.1 Laws of Boolean algebra 587
c.2 De Morgan’s laws 588
c.3 Boolean function generation from truth tables 589
c.4 Karnaugh maps 591
Problems 594
D Instruction sets 596
E C library functions 601
F MATLAB and SIMULINK 604
F.1 MatLaB 604
F.2 siMULinK 608
G Electrical circuit analysis 610
G.1 Direct current circuits 610
G.2 alternating current circuits 615
Further information 620
answers 624
index 639