Mechatronics : An Introduction

This introduction to the subject covers: physical & system modelling, sensors & actuators, signals & systems, computers & logic systems, & software & data acquisition. Mechatronics has evolved into a way of life in engineering practice, and it pervades virtually every aspect of the modern world. In chapters drawn from the bestselling and now standard engineering reference, The Mechatronics Handbook, this book introduces the vibrant field of mechatronics and its key elements: physical system modeling; sensors and actuators; signals and systems; computers and logic systems; and software and data acquisition. These chapters, written by leading academics and practitioners, were carefully selected and organized to provide an accessible, general outline of the subject ideal for non-specialists. Mechatronics: An Introduction first defines and organizes the key elements of mechatronics, exploring design approach, system interfacing, instrumentation, control systems, and microprocessor-based controllers and microelectronics. It then surveys physical system modeling, introducing MEMS along with modeling and simulation. Coverage then moves to essential elements of sensors and actuators, including characteristics and fundamentals of time and frequency, followed by control systems and subsystems, computer hardware, logic, system interfaces, communication and computer networking, data acquisition, and computer-based instrumentation systems. Clear explanations and nearly 200 illustrations help bring the subject to life. Providing a broad overview of the fundamental aspects of the field, Mechatronics: An Introduction is an ideal primer for those new to the field, a handy review for those already familiar with the technology, and a friendly introduction for anyone who is curious about mechatronics. Table of Contents 6358_c000.pdf 2 MECHATRONICS: an Introduction 3 Preface 5 Editor-in-Chief 9 Contributors 10 Contents 11 6358_c001.pdf 13 MECHATRONICS: an Introduction 13 Table of Contents -1 Chapter 1: What is Mechatronics? 13 1.1 Basic Definitions 13 1.2 Key Elements of Mechatronics 14 1.3 Historical Perspective 14 1.4 The Development of the Automobile as a Mechatronic System 18 1.5 What is Mechatronics? And WhatÌs Next? 21 References 21 6358_c002.pdf 23 MECHATRONICS: an Introduction 23 Table of Contents -1 Chapter 2: Mechatronic Design Approach 23 2.1 Historical Development and Definition of Mechatronic Systems 23 2.2 Functions of Mechatronic Systems 25 Division of Functions between Mechanics and Electronics 25 Improvement of Operating Properties 26 Addition of New Functions 26 2.3 Ways of Integration 27 Integration of Components (Hardware) 27 Integration of Information Processing (Software) 27 2.4 Information Processing Systems (Basic Architecture and HW/ SW Trade- Offs) 28 Multilevel Control Architecture 28 Special Signal Processing 29 Model-Based and Adaptive Control Systems 29 Supervision and Fault Detection 30 Intelligent Systems (Basic Tasks) 30 2.5 Concurrent Design Procedure for Mechatronic Systems 31 Design Steps 31 Required CAD 31 CAE Tools 31 Modeling Procedure 32 Real-Time Simulation 34 Hardware-in-the-Loop Simulation 35 Control Prototyping 36 References 37 6358_c003.pdf 39 MECHATRONICS: an Introduction 39 Table of Contents -1 Chapter 3: System Interfacing, Instrumentation, and Control Systems 39 3.1 Introduction 39 The Mechatronic System 40 A Home/Office Example 40 An Automotive Example 41 3.2 Input Signals of a Mechatronic System 41 Transducer/Sensor Input 41 Analog-to-Digital Converters 43 3.3 Output Signals of a Mechatronic System 43 Digital-to-Analog Converters 43 Actuator Output 43 3.4 Signal Conditioning 44 Sampling Rate 44 Filtering 45 Data Acquisition Boards 45 3.5 Microprocessor Control 46 PID Control 46 Programmable Logic Controllers 46 Microprocessors 46 3.6 Microprocessor Numerical Control 47 Fixed-Point Mathematics 47 Calibrations 47 3.7 Microprocessor InputÒOutput Control 47 Polling and Interrupts 47 Input and Output Transmission 48 HC12 Microcontroller InputÒOutput Subsystems 48 Microcontroller Network Systems 48 3.8 Software Control 49 Systems Engineering 49 Software Engineering 49 Software Design 50 3.9 Testing and Instrumentation 51 Verification and Validation 51 Debuggers 51 Logic Analyzer 51 3.10 Summary 52 6358_c004.pdf 53 MECHATRONICS: an Introduction 53 Table of Contents -1 Chapter 4: Microprocessor- Based Controllers and Microelectronics 53 4.1 Introduction to Microelectronics 53 4.2 Digital Logic 54 4.3 Overview of Control Computers 54 4.4 Microprocessors and Microcontrollers 56 4.5 Programmable Logic Controllers 57 4.6 Digital Communications 58 6358_c005.pdf 60 MECHATRONICS: an Introduction 60 Table of Contents -1 Chapter 5: An Introduction to Micro- and Nanotechnology 60 5.1 Introduction 60 The Physics of Scaling 60 General Mechanisms of Electromechanical Transduction 61 Sensor and Actuator Transduction Characteristics 61 5.2 Microactuators 62 Electrostatic Actuation 62 Electromagnetic Actuation 64 5.3 Microsensors 65 Strain 66 Pressure 66 Acceleration 67 Force 67 Angular Rate Sensing (Gyroscopes) 67 5.4 Nanomachines 68 References 70 6358_c006.pdf 74 MECHATRONICS: an Introduction 74 Table of Contents -1 Chapter 6: Modeling Electro- mechanical Systems 74 6.1 Introduction 74 6.2 Models for Electromechanical Systems 75 6.3 Rigid Body Models 75 Kinematics of Rigid Bodies 75 Constraints and Generalized Coordinates 75 Kinematic versus Dynamic Problems 77 6.4 Basic Equations of Dynamics of Rigid Bodies 77 NewtonÒEuler Equation 77 Multibody Dynamics 79 6.5 Simple Dynamic Models 79 Compound Pendulum 79 Gyroscopic Motions 80 6.6 Elastic System Modeling 81 Piezoelastic Beam 82 6.7 Electromagnetic Forces 83 6.8 Dynamic Principles for Electric and Magnetic Circuits 87 LagrangeÌs Equations of Motion for Electromechanical Systems 88 6.9 Earnshaw's Theorem and Electromechanical Stability 91 References 92 6358_c007.pdf 93 MECHATRONICS: an Introduction 93 Table of Contents -1 Chapter 7: Modeling and Simulation for MEMS 93 7.1 Introduction 93 7.2 The Digital Circuit Development Process: Modeling and Simulating Systems with Micro- ( or Nano-) Scale Feature Sizes 94 7.3 Analog and Mixed-Signal Circuit Development: Modeling and Simulating Systems with Micro- ( or Nano-) Scale Feature Sizes and Mixed Digital ( Discrete) and Analog ( Continuous) Input, Output, and Signals 99 7.4 Basic Techniques and Available Tools for MEMS Modeling and Simulation 100 Basic Modeling and Simulation Techniques 100 A Catalog of Resources for MEMS Modeling and Simulation 104 7.5 Modeling and Simulating MEMS, i.e., Systems with Micro- ( or Nano-) Scale Feature Sizes, Mixed Digital ( Discrete) and Analog ( Continuous) Input, Output, and Signals, Two- and Three- Dimensional Phenomena, and Inclusion and Interaction of Multiple D 105 7.6 A ÏRecipeÓ for Successful MEMS Simulation 107 7.7 Conclusion: Continuing Progress in MEMS Modeling and Simulation 108 References 108 6358_c008.pdf 111 MECHATRONICS: an Introduction 111 Table of Contents -1 Chapter 8: The Physical Basis of Analogies in Physical System Models 111 8.1 Introduction 111 8.2 History 112 8.3 The Force-Current Analogy: Across and through Variables 112 Drawbacks of the Across-Through Classification 112 Measurement as a Basis for Analogies 113 Beyond One-Dimensional Mechanical Systems 113 Physical Intuition 113 8.4 MaxwellÌs Force-Voltage Analogy: Effort and Flow Variables 114 Systems of Particles 114 Physical Intuition 114 Dependence on Reference Frames 115 8.5 A Thermodynamic Basis for Analogies 115 Extensive and Intensive Variables 116 Equilibrium and Steady State 116 Analogies, Not Identities 117 Nodicity 118 8.6 Graphical Representations 118 8.7 Concluding Remarks 119 Acknowledgments 120 References 120 6358_c009.pdf 121 MECHATRONICS: an Introduction 121 Table of Contents -1 Chapter 9: Introduction to Sensors and Actuators 121 9.1 Sensors 121 Classification 121 Principle of Operation 124 Selection Criteria 127 Signal Conditioning 127 Calibration 127 9.2 Actuators 128 Classification 128 Principle of Operation 128 Selection Criteria 134 6358_c010.pdf 135 MECHATRONICS: an Introduction 135 Table of Contents -1 Chapter 10: Fundamentals of Time and Frequency 135 10.1 Introduction 135 Coordinated Universal Time (UTC) 136 10.2 Time and Frequency Measurement 136 Accuracy 137 Stability 140 10.3 Time and Frequency Standards 143 Quartz Oscillators 144 Rubidium Oscillators 146 Cesium Oscillators 146 10.4 Time and Frequency Transfer 147 Fundamentals of Time and Frequency Transfer 147 Radio Time and Frequency Transfer Signals 148 10.5 Closing 151 References 151 6358_c011.pdf 153 MECHATRONICS: an Introduction 153 Table of Contents -1 Chapter 11: Sensor and Actuator Characteristics 153 11.1 Range 153 11.2 Resolution 154 11.3 Sensitivity 154 11.4 Error 154 11.5 Repeatability 155 11.6 Linearity and Accuracy 155 11.7 Impedance 156 11.8 Nonlinearities 157 11.9 Static and Coulomb Friction 157 11.10 Eccentricity 158 11.11 Backlash 158 11.12 Saturation 159 11.13 Deadband 159 11.14 System Response 160 11.15 First-Order System Response 160 11.16 Underdamped Second-Order System Response 161 11.17 Frequency Response 164 Reference 166 6358_c012.pdf 167 MECHATRONICS: an Introduction 167 Table of Contents -1 Chapter 12: The Role of Controls in Mechatronics 167 12.1 Introduction 167 12.2 Key Elements of Controlled Mechatronic Systems 169 12.3 Integrated Modeling, Design, and Control Implementation 169 Modeling 169 Control System Design Methodologies 172 Servo System Design 173 Design of a Mobile Robot 176 12.4 Modern Examples of Mechatronic Systems in Action 178 Rudder Roll Stabilization of Ships 178 Compensation of Nonlinear Effects in a Linear Motor 179 12.5 Special Requirements of Mechatronics that Differentiate from Ï ClassicÓ Systems and Control Design 181 References 182 6358_c013.pdf 184 MECHATRONICS: an Introduction 184 Table of Contents -1 Chapter 13: The Role of Modeling in Mechatronics Design 184 13.1 Modeling as Part of the Design Process 184 Phase 1 185 Phase 2 188 Phase 3 189 Phase 4 189 13.2 The Goals of Modeling 189 Documentation and Communication 190 Hierarchical Framework 190 Insights 191 Analogies 191 Identification of Ignorance 192 13.3 Modeling of Systems and Signals 192 Analytical vs. Numerical Models 192 Partial vs. Ordinary Differential Equations 192 Stochastic vs. Deterministic Models 193 Linear vs. Nonlinear 193 References 194 6358_c014.pdf 195 MECHATRONICS: an Introduction 195 Table of Contents -1 Chapter 14: Design Optimization of Mechatronic Systems 195 14.1 Introduction 195 14.2 Optimization Methods 195 Principles of Optimization 195 Parametric Optimization 196 General Aspects of the Optimization Process 196 Types of Optimization Methods 197 Selection of a Suitable Optimization Method 200 14.3 Optimum Design of Induction Motor (IM) 200 IM Design Introduction 200 Classical IM Design Evaluation 200 Description of a Solved Problem 201 Achieved Results 202 14.4 The Use of a Neuron Network for the Identification of the Parameters of a Mechanical Dynamic System 203 Practical Application 204 References 208 6358_c015.pdf 209 MECHATRONICS: an Introduction 209 Table of Contents -1 Chapter 15: Introduction to Computers and Logic Systems 209 15.1 Introduction: The Mechatronic Use of Computers 209 15.2 Mechatronics and Computer Modeling and Simulation 211 15.3 Mechatronics, Computers, and Measurement Systems 212 15.4 Mechatronics and the Real-Time Use of Computers 213 15.5 The Synergy of Mechatronics 219 6358_c016.pdf 220 MECHATRONICS: an Introduction 220 Table of Contents -1 Chapter 16: System Interfaces 220 16.1 Background 220 Terminology and Definitions 221 Serial vs. Parallel 221 Bit Rate vs. Baud Rate 221 Synchronous vs. Asynchronous 221 Data Flow-Control 222 Handshaking 222 Communication Protocol 222 Error Handling 222 Simplex, Half-Duplex, Full-Duplex 222 Unbalanced vs. Balanced Transmission 222 Point-to-Point vs. Multi-Point 223 Serial Asynchronous Communications 224 The Universal Asynchronous Receiver Transmitter (UART) 225 16.2 TIA/EIA Serial Interface Standards 226 RS-232 Serial Interface 226 Functional Description of Selected Interchange Circuits 227 RS-422 and RS-485 Interfaces 228 16.3 IEEE 488—The General Purpose Interface Bus (GPIB) 229 Introduction 229 GPIB Hardware 230 Controllers, Talkers, and Listeners 231 Interface Management Lines 231 Handshake Lines 231 Data Lines DIO1-DIO8 (8 lines) 232 Addressing of GPIB Devices 232 References 233 6358_c017.pdf 234 MECHATRONICS: an Introduction 234 Table of Contents -1 Chapter 17: Communications and Computer Networks 234 17.1 A Brief History 234 17.2 Introduction 235 17.3 Computer Networks 237 Wide Area Computer Networks 241 Local and Metropolitan Area Networks 242 Wireless and Mobile Communication Networks 243 17.4 Resource Allocation Techniques 244 17.5 Challenges and Issues 245 17.6 Summary and Conclusions 245 References 246 6358_c018.pdf 247 MECHATRONICS: an Introduction 247 Table of Contents -1 Chapter 18: Control with Embedded Computers and Programmable Logic Controllers 247 18.1 Introduction 247 18.2 Embedded Computers 247 Hardware Platforms 248 Hardware Interfacing 250 Programming Languages 251 18.3 Programmable Logic Controllers 252 Programming Languages 253 Interfacing 256 Advanced Capabilities 257 18.4 Conclusion 258 References 259 6358_c019.pdf 261 MECHATRONICS: an Introduction 261 Table of Contents -1 Chapter 19: Introduction to Data Acquisition 261 6358_c020.pdf 265 MECHATRONICS: an Introduction 265 Table of Contents -1 Chapter 20: Computer- Based Instrumentation Systems 265 20.1 The Power of Software 266 20.2 Digitizing the Analog World 267 20.3 A Look Ahead 268 6358_c021.pdf 269 MECHATRONICS: an Introduction 269 Table of Contents -1 Chapter 21: Software Design and Development 269 21.1 The Notion of Software 270 21.2 The Nature of Software Engineering 273 21.3 Development before the Fact 277 Language 278 Technology 279 Process 279 21.4 Experience with DBTF 282 21.5 Conclusion 283 References 284 Defining Terms 285 Further Information 285

mechatronics Has Evolved Into A Way Of Life In Engineering Practice, And It Pervades Virtually Every Aspect Of The Modern World. In Chapters Drawn From The Bestselling And Now Standard Engineering Reference, The Mechatronics Handbook, This Book Introduces The Vibrant Field Of Mechatronics And Its Key Elements: Physical System Modeling; Sensors And Actuators; Signals And Systems; Computers And Logic Systems; And Software And Data Acquisition. These Chapters, Written By Leading Academics And Practitioners, Were Carefully Selected And Organized To Provide An Accessible, General Outline Of The Subject Ideal For Non-specialists.

mechatronics: An Introduction First Defines And Organizes The Key Elements Of Mechatronics, Exploring Design Approach, System Interfacing, Instrumentation, Control Systems, And Microprocessor-based Controllers And Microelectronics. It Then Surveys Physical System Modeling, Introducing Mems Along With Modeling And Simulation. Coverage Then Moves To Essential Elements Of Sensors And Actuators, Including Characteristics And Fundamentals Of Time And Frequency, Followed By Control Systems And Subsystems, Computer Hardware, Logic, System Interfaces, Communication And Computer Networking, Data Acquisition, And Computer-based Instrumentation Systems. Clear Explanations And Nearly 200 Illustrations Help Bring The Subject To Life.

providing A Broad Overview Of The Fundamental Aspects Of The Field, Mechatronics: An Introduction Is An Ideal Primer For Those New To The Field, A Handy Review For Those Already Familiar With The Technology, And A Friendly Introduction For Anyone Who Is Curious About Mechatronics.