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E-raamat: Mechatronic Systems, Sensors, and Actuators: Fundamentals and Modeling

(The University of Texas at Austin, USA)
  • Formaat: 692 pages
  • Ilmumisaeg: 28-Jul-2017
  • Kirjastus: CRC Press Inc
  • Keel: eng
  • ISBN-13: 9781420009002
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  • Formaat: 692 pages
  • Ilmumisaeg: 28-Jul-2017
  • Kirjastus: CRC Press Inc
  • Keel: eng
  • ISBN-13: 9781420009002

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The first comprehensive and up-to-date reference on mechatronics, Robert Bishop’s The Mechatronics Handbook was quickly embraced as the gold standard for the field. With updated coverage on all aspects of mechatronics, The Mechatronics Handbook, Second Edition is now available as a two-volume set. Each installment offers focused coverage of a particular area of mechatronics, supplying a convenient and flexible source of specific information. This seminal work is still the most exhaustive, state-of-the-art treatment of the field available. Mechatronics Systems, Sensors, and Actuators: Fundamentals and Modeling presents an overview of mechatronics, providing a foundation for those new to the field and authoritative support for seasoned professionals. The book introduces basic definitions and the key elements and includes detailed descriptions of the mathematical models of the mechanical, electrical, and fluid subsystems that comprise mechatronic systems. New chapters include Mechantronics Engineering Curriculum Design and Numerical Simulation. Discussion of the fundamental physical relationships and mathematical models associated with commonly used sensor and actuator technologies complete the coverage. Features Introduces the key elements of mechatronics and discusses new directions Presents the underlying mechanical and electronic mathematical models comprising many mechatronic systems Provides a detailed discussion of the process of physical system modeling Covers time, frequency, and sensor and actuator characteristics
SECTION I Overview of Mechatronics
What Is Mechatronics?
1(1)
Robert H. Bishop
M. K. Ramasubramanian
Basic Definitions
1(1)
Key Elements of Mechatronics
2(1)
Historical Perspective
3(4)
The Development of the Automobile as a Mechatronic System
7(3)
What Is Mechatronics? And What Is Next?
10
References
11
Mechatronic Design Approach
1(1)
Rolf Isermann
Historical Development and Definition of Mechatronic Systems
1(2)
Functions of Mechatronic Systems
3(2)
Division of Functions between Mechanics and Electronics
Improvement of Operating Properties
Addition of New Functions
Ways of Integration
5(1)
Integration of Components (Hardware)
Integration of Information Processing (Software)
Information Processing Systems (Basic Architecture and HW/SW Trade-Offs)
6(3)
Multilevel Control Architecture
Special Signal Processing
Model-Based and Adaptive Control Systems
Supervision and Fault Detection
Intelligent Systems (Basic Tasks)
Concurrent Design Procedure for Mechatronic Systems
9
Design Steps
Required CAD/CAE Tools
Modeling Procedure
Real-Time Simulation
Hardware-in-the-Loop Simulation
Control Prototyping
References
15
System Interfacing, Instrumentation, and Control Systems
1(1)
Rick Homkes
Introduction
1(2)
The Mechatronic System
A Home/Office Example
An Automotive Example
Input Signals of a Mechatronic System
3(2)
Transducer/Sensor Input
Analog-to-Digital Converters
Output Signals of a Mechatronic System
5(1)
Digital-to-Analog Converters
Actuator Output
Signal Conditioning
6(2)
Sampling Rate
Filtering
Data Acquisition Boards
Microprocessor Control
8(1)
PID Control
Programmable Logic Controllers
Microprocessors
Microprocessor Numerical Control
8(1)
Fixed-Point Mathematics
Calibrations
Microprocessor Input-Output Control
9(2)
Polling and Interrupts
Input and Output Transmission
HC12 Microcontroller Input-Output Subsystems
Microcontroller Network Systems
Software Control
11(1)
Systems Engineering
Software Engineering
Software Design
Testing and Instrumentation
12(1)
Verification and Validation
Debuggers
Logic Analyzer
Summary
13
Microprocessor-Based Controllers and Microelectronics
1(1)
Ondrej Novak
Ivan Dolezal
Introduction to Microelectronics
1(1)
Digital Logic
2(1)
Overview of Control Computers
2(2)
Microprocessors and Microcontrollers
4(1)
Programmable Logic Controllers
5(1)
Digital Communications
6
An Introduction to Micro- and Nanotechnology
1(1)
Michael Goldfarb
Alvin M. Strauss
Eric J. Barth
Introduction
1(2)
The Physics of Scaling
General Mechanisms of Electromechanical Transduction
Sensor and Actuator Transduction Characteristics
Microactuators
3(3)
Electrostatic Actuation
Electromagnetic Actuation
Microsensors
6(3)
Strain
Pressure
Acceleration
Force
Angular Rate Sensing (Gyroscopes)
Nanomachines
9
References
11
Mechatronics Engineering Curriculum Design
1(1)
Martin Grimheden
Introduction
1(1)
The Identity of Mechatronics
2(1)
Legitimacy of Mechatronics
3(1)
The Selection of Mechatronics
4(1)
The Communication of Mechatronics
5(1)
Fine, but So What?
5(1)
Putting It All Together in a Curriculum
6(1)
The Evolution of Mechatronics
7(2)
Stage 1: The Origin; No Interaction
Stage 2: Multidisciplinary Stage
Stage 3: Cross-Disciplinary Stage
Stage 4: Curriculum Stage
Stage 5 and 6: Organizational Stage
Where (and What) Is Mechatronics Today?
9
References
9
SECTION II Physical System Modeling
Modeling Electromechanical Systems
1(1)
Francis C. Moon
Introduction
1(1)
Models for Electromechanical Systems
2(1)
Rigid Body Models
2(2)
Kinematics of Rigid Bodies
Constraints and Generalized Coordinates
Kinematic versus Dynamic Problems
Basic Equations of Dynamics of Rigid Bodies
4(2)
Newton-Euler Equation
Multibody Dynamics
Simple Dynamic Models
6(2)
Compound Pendulum
Gyroscopic Motions
Elastic System Modeling
8(2)
Piezoelastic Beam
Electromagnetic Forces
10(4)
Dynamic Principles for Electric and Magnetic Circuits
14(4)
Lagrange's Equations of Motion for Electromechanical Systems
Earnshaw's Theorem and Electromechanical Stability
18
References
19
Structures and Materials
1(1)
Eniko T. Enikov
Fundamental Laws of Mechanics
1(5)
Statics and Dynamics of Mechatronic Systems
Equations of Motion of Deformable Bodies
Electric Phenomena
Common Structures in Mechatronic Systems
6(3)
Beams
Torsional Springs
Thin Plates
Vibration and Modal Analysis
9(1)
Buckling Analysis
10(1)
Transducers
11(5)
Electrostatic Transducers
Electromagnetic Transducers
Thermal Actuators
Electroactive Polymer Actuators
Future Trends
16
References
16
Modeling of Mechanical Systems for Mechatronics Applications
1(1)
Raul G. Longoria
Introduction
1(1)
Mechanical System Modeling in Mechatronic Systems
2(6)
Physical Variables and Power Bonds
Interconnection of Components
Causality
Descriptions of Basic Mechanical Model Components
8(11)
Defining Mechanical Input and Output Model Elements
Dissipative Effects in Mechanical Systems
Potential Energy Storage Elements
Kinetic Energy Storage
Coupling Mechanisms
Impedance Relationships
Physical Laws for Model Formulation
19(9)
Kinematic and Dynamic Laws
Identifying and Representing Motion in a Bond Graph
Assigning and Using Causality
Developing a Mathematical Model
Note on Some Difficulties in Deriving Equations
Energy Methods for Mechanical System Model Formulation
28(3)
Multiport Models
Restrictions on Constitutive Relations
Deriving Constitutive Relations
Checking the Constitutive Relations
Rigid Body Multidimensional Dynamics
31(17)
Kinematics of a Rigid Body
Dynamic Properties of a Rigid Body
Rigid Body Dynamics
Lagrange's Equations
48
Classical Approach
Dealing with Nonconservative Effects
Extensions for Nonholonomic Systems
Mechanical Subsystem Models Using Lagrange Methods
Methodology for Building Subsystem Model
References
53
Fluid Power Systems
1(1)
Qin Zhang
Carroll E. Goering
Introduction
1(1)
Fluid Power Systems
Electrohydraulic Control Systems
Hydraulic Fluids
2(1)
Density
Viscosity
Bulk Modulus
Hydraulic Control Valves
3(2)
Principle of Valve Control
Hydraulic Control Valves
Hydraulic Pumps
5(2)
Principles of Pump Operation
Pump Controls and Systems
Hydraulic Cylinders
7(1)
Cylinder Parameters
Fluid Power Systems Control
8(4)
System Steady-State Characteristics
System Dynamic Characteristics
E/H System Feedforward-Plus-PID Control
E/H System Generic Fuzzy Control
Programmable Electrohydraulic Valves
12
References
14
Electrical Engineering
1(1)
Giorgio Rizzoni
Introduction
1(1)
Fundamentals of Electric Circuits
1(14)
Electric Power and Sign Convention
Circuit Elements and Their i-v Characteristics
Resistance and Ohm's Law
Practical Voltage and Current Sources
Measuring Devices
Resistive Network Analysis
15(6)
The Node Voltage Method
The Mesh Current Method
One-Port Networks and Equivalent Circuits
Nonlinear Circuit Elements
AC Network Analysis
21
Energy-Storage (Dynamic) Circuit Elements
Time-Dependent Signal Sources
Solution of Circuits Containing Dynamic Elements
Phasors and Impedance
References
36
Engineering Thermodynamics
1(1)
Michael J. Moran
Fundamentals
1(3)
Basic Concepts and Definitions
Laws of Thermodynamics
Extensive Property Balances
4(8)
Mass Balance
Energy Balance
Entropy Balance
Control Volumes at Steady State
Exergy Balance
Property Relations and Data
12(10)
P- v- TSurface
Thermodynamic Data Retrieval
Compressibility Charts
Analytical Equations of State
Ideal Gas Model
Vapor and Gas Power Cycles
22
Work and Heat Transfer in Internally Reversible Processes
References
31
Numerical Simulation
1(1)
Jeannie Sullivan Falcon
Introduction
1(1)
Common Simulation Blocks
2(1)
Continuous Linear System Blocks
Discrete Linear System Blocks
Nonlinear Blocks and Table Lookup
Signal Generation
Textual Equations within Simulation Block Diagrams
3(1)
Solvers
4(1)
Simulation Timing
4(1)
Visualization
4(1)
Hybrid System Simulation and Control
5
References
6
Modeling and Simulation for MEMS
1(1)
Carla Purdy
Introduction
1(1)
The Digital Circuit Development Process: Modeling and Simulating Systems with Micro- (or Nano-) Scale Feature Sizes
2(5)
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
7(1)
Basic Techniques and Available Tools for MEMS Modeling and Simulation
8(5)
Basic Modeling and Simulation Techniques
A Catalog of Resources for MEMS Modeling and Simulation
Modeling and Simulating MEMS, That Is, 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 Domains and Technologies
13(2)
A ``Recipe'' for Successful MEMS Simulation
15(1)
Conclusion: Continuing Progress in MEMS Modeling and Simulation
16
References
16
Rotational and Translational Microelectromechanical Systems: MEMS Synthesis, Microfabrication, Analysis, and Optimization
1(1)
Sergey Edward Lyshevski
Introduction
2(1)
MEMS Motion Microdevice Classifier and Structural Synthesis
3(3)
MEMS Fabrication
6(2)
Bulk Micromachining
Surface Micromachining
LIGA and LIGA-Like Technologies
MEMS Electromagnetic Fundamentals and Modeling
8(3)
MEMS Mathematical Models
11(11)
Example 15.5.1: Mathematical Model of the Translational Microtransducer
Example 15.5.2: Mathematical Model of an Elementary Synchronous Reluctance Micromotor
Example 15.5.3: Mathematical Model of Two-Phase Permanent-Magnet Stepper Micromotors
Example 15.5.4: Mathematical Model of Two-Phase Permanent-Magnet Synchronous Micromotors
Control of MEMS
22(13)
Proportional-Integral-Derivative Control
Tracking Control
Time-Optimal Control
Sliding Mode Control
Constrained Control of Nonlinear MEMS: Hamilton-Jacobi Method
Constrained Control of Nonlinear Uncertain MEMS: Lyapunov Method
Example 15.6.1: Control of Two-Phase Permanent-Magnet Stepper Micromotors
Conclusions
35
References
35
The Physical Basis of Analogies in Physical System Models
1(1)
Neville Hogan
Peter C. Breedveld
Introduction
1(1)
History
2(1)
The Force-Current Analogy: Across and Through Variables
2(2)
Drawbacks of the Across-Through Classification
Measurement as a Basis for Analogies
Beyond One-Dimensional Mechanical Systems
Physical Intuition
Maxwell's Force-Voltage Analogy: Effort and Flow Variables
4(1)
Systems of Particles
Physical Intuition
Dependence on Reference Frames
A Thermodynamic Basis for Analogies
5(3)
Extensive and Intensive Variables
Equilibrium and Steady State
Analogies, Not Identities
Nodicity
Graphical Representations
8(1)
Concluding Remarks
9
Acknowledgments
10(1)
References
10
SECTION III Mechatronic Sensors and Actuators
Introduction to Sensors and Actuators
1(1)
M. Anjanappa
K. Datta
T. Song
Raghavendra Angara
S. Li
Introduction
1(1)
Sensors
Actuators
Fundamentals of Time and Frequency
1(1)
Michael A. Lombardi
Introduction
1(1)
Coordinated Universal Time
Time and Frequency Measurement
2(7)
Accuracy
Stability
Time and Frequency Standards
9(4)
Quartz Oscillators
Rubidium Oscillators
Cesium Oscillators
Time and Frequency Transfer
13(4)
Fundamentals of Time and Frequency Transfer
Radio Time and Frequency Transfer Signals
Closing
17
References
17
Sensor and Actuator Characteristics
1(1)
Joey Parker
Range
1(1)
Resolution
2(1)
Sensitivity
2(1)
Error
2(1)
Repeatability
3(1)
Linearity and Accuracy
3(1)
Impedance
4(1)
Nonlinearities
5(1)
Static and Coulomb Friction
5(1)
Eccentricity
6(1)
Backlash
6(1)
Saturation
7(1)
Deadband
7(1)
System Response
8(1)
First-Order System Response
8(1)
Underdamped Second-Order System Response
9(3)
Frequency Response
12
Reference
14
Sensors
Linear and Rotational Sensors
2(10)
Kevin M. Lynch
Michael A. Peshkin
Contact
Infrared
Resistive
Tilt (Gravity)
Capacitive
AC Inductive
DC Magnetic
Ultrasonic
Magnetostrictive Time-of-Flight
Laser Interferometry
References
Acceleration Sensors
12(22)
Halit Eren
Overview of Accelerometer Types
Dynamics and Characteristics of Accelerometers
Vibrations
Typical Error Sources and Error Modeling
Inertial Accelerometers
Electromechanical Accelerometers
Piezoelectric Accelerometers
Piezoresistive Accelerometers
Strain-Gauge Accelerometers
Electrostatic Accelerometers
Micro- and Nanoaccelerometers
Signal Conditioning and Biasing
References
Force Measurement
34(14)
M. A. Elbestawi
General Considerations
Hooke's Law
Force Sensors
Torque and Power Measurement
48(14)
Ivan J. Garshelis
Fundamental Concepts
Arrangements of Apparatus for Torque and Power Measurement
Torque Transducer Technologies
Torque Transducer Construction, Operation, and Application
Apparatus for Power Measurement
References
Flow Measurement
62(11)
Richard Thorn
Introduction
Terminology
Flow Characteristics
Flowmeter Classification
Differential Pressure Flowmeter
Variable Area Flowmeter
Positive Displacement Flowmeter
Turbine Flowmeter
Vortex Shedding Flowmeter
Electromagnetic Flowmeter
Ultrasonic Flowmeter
Coriolis Flowmeter
Two-Phase Flow
Flowmeter Installation
Flowmeter Selection
References
Temperature Measurements
73(15)
Pamela M. Norris
Bouvard Hosticka
Introduction
Thermometers That Rely Upon Differential Expansion Coefficients
Thermometers That Rely Upon Phase Changes
Electrical Temperature Sensors and Transducers
Noncontact Thermometers
Microscale Temperature Measurements
Closing Comments
References
Distance Measuring and Proximity Sensors
88(31)
Jorge Fernando Figueroa
H. R. (Bart) Everett
Distance Measuring Sensors
Proximity Sensors
Light Detection, Image, and Vision Systems
119(17)
Stanley S. Ipson
Introduction
Basic Radiometry
Light Sources
Light Detectors
Image Formation
Image Sensors
Vision Systems
References
Integrated Microsensors
136(17)
Chang Liu
Introduction
Examples of Micro-and Nanosensors
Future Development Trends
Conclusions
References
Vision
153
Nicolas Vazquez
Dinesh Nair
Digital Images
System Setup and Calibration
Machine Vision
References
Actuators
Electromechanical Actuators
1(32)
George T.-C. Chiu
Introduction
Type of Electromechanical Actuators---Operating Principles
Power Amplification and Modulation---Switching Power Electronics
References
ElectricalMachines
33(18)
Charles J. Fraser
DC Motor
Armature Electromotive Force (emf)
Armature Torque
Terminal Voltage
Methods of Connection
Starting DC Motors
Speed Control of DC Motors
Efficiency of DC Machines
AC Machines
Motor Selection
References
Piezoelectric Actuators
51(12)
Habil Ramutis Bansevicius
Rymantas Tadas Tolocka
Piezoeffect Phenomenon
Constitutive Equations
Piezomaterials
Piezoactuating Elements
Application Areas
Piezomotors (Ultrasonic Motors)
Piezoelectric Devices with Several Degrees of Freedom
References
Hydraulic and Pneumatic Actuation Systems
63(34)
Massimo Sorli
Stefano Pastorelli
Introduction
Fluid Actuation Systems
Hydraulic Actuation Systems
Modeling of a Hydraulic Servosystem for Position Control
Pneumatic Actuation Systems
Modeling a Pneumatic Servosystem
References
MEMS: Microtransducers Analysis, Design, and Fabrication
97
Sergey Edward Lyshevski
Introduction
Design and Fabrication
Analysis of Translational Microtransducers
Single-Phase Reluctance Micromotors: Microfabrication, Modeling, and Analysis
Three-Phase Synchronous Reluctance Micromotors: Modeling and Analysis
Microfabrication Aspects
Magnetization Dynamics of Thin Films
Microstructures and Microtransducers with Permanent Magnets: Micromirror Actuator
Micromachined Polycrystalline Silicon Carbide Micromotors
Axial Electromagnetic Micromotors
Conclusions
References
Index 1


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