MECHATRONICS. William Bolton. Sixth Edition ELECTRONIC CONTROL SYSTEMS ENGINEERING IN MECHANICAL AND ELECTRICAL PEARSON

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1 MECHATRONICS ELECTRONIC CONTROL SYSTEMS IN MECHANICAL AND ELECTRICAL ENGINEERING Sixth 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 Sao Paulo Mexico City Madrid Amsterdam Munich Paris Milan

2 Contents Preface xi 3. Signal conditioning 69 I. Introduction 1 1. Introducing mechatronlcs What is mechatronics? The design process 1.3 Systems Measurement systems Control systems Programmable logic controller Examples of mechatronic systems Problems 26 II. Sensors and signal conditioning Sensors and transducers Sensors and transducers Performance terminology Displacement, position and proximity Velocity and motion Force Fluid pressure Liquid flow Liquid level Temperature Light sensors Selection of sensors Inputting data by switches Problems Signal conditioning The operational amplifier Protection Filtering Wheatstone bridge Pulse modulation Problems with signals Power transfer Problems Digital signals Digital signals Analogue and digital signals Digital-to-analogue and analogue-to-digital converters Multiplexers Data acquisition Digital signal processing Problems Digital logic Digital logic Logic gates Applications of logic gates Sequential logic Problems 133

3 vi CONTENTS 6. Data presentation systems Electrical actuation systems Displays Data presentation elements Magnetic recording Optical recording Displays Data acquisition systems Measurement systems Testing and calibration Problems Electrical systems Mechanical switches Solid-state switches Solenoids Direct current motors Alternating current motors Stepper motors Motor selection Problems 237 III. Actuation 163 IV. Microprocessor systems Pneumatic and hydraulic actuation systems Microprocessors and microcontrollers Actuation systems Pneumatic and hydraulic systems Directional control valves Pressure control valves Cylinders Servo and proportional control valves Process control valves Rotary actuators Problems Mechanical actuation systems Mechanical systems Types of motion Kinematic chains Control Microprocessor systems Microcontrollers Applications Programming Problems Assembly language 278 Chapter objective Languages Instruction sets Assembly language programs Subroutines Look-up tables Embedded systems Problems Cams Gears Ratchet and pawl C language Belt and chain drives Bearings Problems WhyC? Program structure 302

4 CONTENTS vil 12.3 Branches and loops Arrays Pointers Program development Examples of programs Arduino programs Problems Networks Protocols Open Systems Interconnection communication model Serial communication interfaces Parallel communication interfaces Wireless protocols Problems Input/output systems Fault finding Interfacing Input/output addressing Interface requirements Peripheral interface adapters Serial communications interface Examples of interfacing Problems Fault-detection techniques Watchdog timer Parity and error coding checks Common hardware faults Microprocessor systems Emulation and simulation PLC systems Problems Programmable logic controllers 349 V. System models Programmable logic controller Basic PLC structure Input/output processing Ladder programming Instruction lists Latching and internal relays Sequencing Timers and counters Shift registers Master and jump controls Data handling Analogue input/output Problems Basic system models Mathematical models Mechanical system building blocks Electrical system building blocks Fluid system building blocks Thermal system building blocks Problems System models i 15. Communication systems Digital communications Centralised, hierarchical and distributed control Engineering systems Rotational-translational systems Electro-mechanical systems Linearity Hydraulic-mechanical systems Problems 448

5 vili CONTENTS 19. Dynamic responses of systems Modelling dynamic systems Terminology First-order systems Second-order systems Performance measures for second-order systems System identification Problems Proportional mode Derivative control Integral control PID controller Digital controllers Control system performance Controller tuning Velocity control Adaptive control Problems Artificial Intelligence System transfer functions The transfer function First-order systems Second-order systems Systems in series Systems with feedback loops Effect of pole location on transient response Problems What is meant by artificial intelligence? Perception and cognition Reasoning Learning Problems 534 VI. Conclusion Mechatronlc systems Frequency response Sinusoidal input Phasors Frequency response Bode plots Performance specifications Stability Problems Mechatronic designs Case studies Robotics Problems 567 Research assignments 568 Design assignments 568 Appendices Closed-loop controllers 505 A The Laplace transform Continuous and discrete control processes Terminology Two-step mode 509 A.l 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

6 CONTENTS ix B Number systems 581 E C library functions 601 B.l Number systems 581 B.2 Binary mathematics 582 B.3 Floating numbers 585 B. 4 Gray code 585 Problems 586 F MATLAB and SIMULINK 604 F.l MATLAB 604 F. 2 SIMULINK 608 C Boolean algebra 587 C. l 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 G Electrical circuit analysis 610 G. l Direct current circuits 610 G.2 Alternating current circuits 615 D Instruction sets 596 Further information 620 Answers 624 Index 639

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