Introduction to Mechatronics: An Integrated Approach

Preface
Acknowledgments
Contents
About the Author
Chapter 1: Introduction
1.1 Mechatronics
1.2 An Integrated Approach
1.3 Organization of Book Chapters
1.4 Measurement Fundamentals
1.4.1 Basic Statistics
1.4.2 Excel and Matlab Commands for Basic Statistics
1.4.3 Example Problems: Basic Statistics
1.4.4 Uncertainty Analysis
1.4.4.1 Maximum Possible Error
1.4.4.2 Most Probable Error
1.4.5 Estimation of Allowable Uncertainty of Individual Measured Variables
1.4.5.1 Based on Maximum Possible Uncertainty of the Computed Parameter
1.4.5.2 Based on the Most Probable Uncertainty of the Computed Parameter
1.4.6 Example Problems: Uncertainty Analysis
1.4.7 Computer-Aided Analysis of Basic Statistics and Uncertainty
1.4.8 Experiment on Basic Statistics
Exercises
Bibliography
Chapter 2: Basic Electrical Circuit Elements and Circuit Analysis
2.1 Introduction
2.2 Basic Electrical Circuit Elements
2.2.1 Resistor
2.2.2 Capacitor
2.2.3 Inductor
2.3 Basic Electrical Circuit Elements in Series and in Parallel
2.3.1 Resistors in Series and in Parallel
2.3.2 Capacitors in Series and in Parallel
2.3.3 Inductors in Series and in Parallel
2.4 DC Circuit Analysis
2.4.1 Ohm´s Law
2.4.2 Kirchhoff´s Current Law
2.4.3 Kirchhoff´s Voltage Law
2.5 Ideal Voltage and Current Sources and Measuring Devices
2.6 Equivalent Circuits
2.6.1 Thevenin Equivalent Circuit
2.6.2 Norton Equivalent Circuit
2.7 AC Circuit Analysis
2.7.1 AC Signal and Phasor Representation
2.7.2 Impedance
2.8 Power in Electrical Circuits
2.9 Transformer
2.10 Impedance Matching
2.11 Computer-Aided Analysis of Basic Circuits
2.11.1 Analysis Using Matlab
2.11.2 Simulation Using Tinkercad
Exercises
Bibliography
Chapter 3: Basic Electronics
3.1 Introduction
3.2 Introduction to Junction Diodes
3.2.1 Ideal Diode Model
3.2.2 Nonlinear Current-Voltage Characteristics of Junction Diodes
3.2.3 Zener Diode and Voltage Regulation
3.2.4 Analysis of Diode Circuits
3.2.5 Rectifier Circuits
3.3 Bipolar Junction Transistors
3.3.1 Example Problem of npn BJT
3.3.2 Example Problem of pnp BJT
3.4 Metal Oxide Semiconductor Field Effect Transistors
3.4.1 NMOS Example Problem
3.4.2 PMOS Example Problem
3.5 Computer-Aided Analysis of Basic Electronic Circuits
3.5.1 Analysis Using Matlab
3.5.2 Simulation Using Tinkercad
Exercises
Bibliography
Chapter 4: Dynamic System Characteristics
4.1 Introduction
4.2 First-Order Systems
4.2.1 Time Domain Analysis
4.2.2 Frequency Domain Analysis
4.2.3 Experimental Determination of System Parameters
4.3 Second-Order Systems
4.3.1 Time Domain Analysis
4.3.2 Frequency Domain Analysis
4.3.3 Experimental Determination of System Parameters
4.4 Fourier Series Representation of Periodic Signals
4.4.1 Fourier Series
4.4.2 Fourier Transform
4.4.3 Examples of Fourier Transform of Signals Using Matlab
4.5 Computer-Aided Analysis and Simulation of Dynamic System Responses
4.5.1 Analysis Using Matlab
4.5.2 Simulation Using Tinkercad
4.6 Experimental Validation
Exercises
Bibliography
Chapter 5: Analog Signal Processing and Operational Amplifiers
5.1 Introduction
5.2 Operational Amplifiers
5.3 Ideal Operational Amplifier Model
5.4 Inverting Amplifier
5.5 Noninverting Amplifier
5.6 Summing Amplifier
5.7 Difference Amplifier
5.8 Integrator
5.9 Differentiator
5.10 Voltage Follower
5.11 Comparator
5.12 Sample and Hold
5.13 Instrumentation Amplifier
5.14 The Real Operational Amplifier
5.15 Computer-Aided Analysis and Simulation of Operational Amplifier Circuits
5.15.1 Analysis Using Matlab
5.15.2 Simulation Using Tinkercad
5.16 Summary of Operational Amplifier Configurations
5.17 Simulation and Experimental Validation
5.17.1 Basic Operational Amplifier Configurations
5.17.2 Integrator, Differentiator, and Modified Versions
Exercises
Bibliography
Chapter 6: Data Acquisition and Digital Signal Processing
6.1 Introduction
6.2 Analog and Discrete Signals
6.3 Number Systems
6.3.1 Decimal Number System
6.3.2 Binary Number System
6.3.3 Octal and Hexadecimal Number Systems
6.3.4 Decimal to Binary Conversion
6.3.5 Binary to Octal Conversion
6.3.6 Binary to Hexadecimal Conversion
6.4 Analog-to-Digital Conversion
6.4.1 Successive Approximation Register (SAR) ADC
6.4.2 Flash ADC
6.4.3 ADC Relations
6.5 Digital-to-Analog Conversion
6.5.1 Digital-to-Analog Converters
6.5.2 DAC Relation
6.6 Virtual Instruments, Data Acquisition, and Digital Signal Processing Using LabVIEW
6.6.1 Virtual Instruments
6.6.2 Signal Simulation and Analysis
6.6.3 Data Acquisition and Digital Signal Processing
6.7 LabVIEW Experimentation
Exercises
Bibliography
Chapter 7: Sensors
7.1 Introduction
7.2 Position, Displacement, and Velocity Measurement
7.2.1 Proximity Sensors
7.2.2 Potentiometers
7.2.3 Ultrasonic Sensors
7.2.4 Tachogenerators
7.3 Stress and Strain Measurement Using Strain Gages
7.3.1 Electrical Resistance Strain Gage
7.3.2 Wheatstone Bridge
7.3.3 Member with Axial Load
7.3.4 Member with Transverse Load
7.4 Vibration and Acceleration Measurement
7.4.1 Vibration Pickups for Displacement Measurement
7.4.2 Accelerometers
7.4.3 Piezoelectric Accelerometers
7.4.4 Charge Amplifiers
7.4.5 A Piezoelectric Accelerometer with a Charge Amplifier
7.5 Temperature Measurement
7.5.1 Resistance Temperature Detectors
7.5.2 Thermistors
7.5.3 Thermocouples
7.5.3.1 Thermopile in Series
7.5.3.2 Thermopile in Parallel
7.6 Computer-Aided Analysis and Simulation of Wheatstone Bridge
7.6.1 Analysis Using Matlab
7.6.2 Simulation Using Tinkercad
7.7 Experimental Validation
7.7.1 Data Acquisition and Analysis Using LabVIEW and a Thermocouple
7.7.2 Measurement Using a Strain Gage Under Static Condition
7.7.3 Data Acquisition and Analysis Using LabVIEW and a Strain Gage Under Dynamic Condition
Exercises
Bibliography
Chapter 8: Digital Circuits
8.1 Introduction
8.2 Combinational Logic Devices
8.3 Boolean Algebra
8.4 De Morgan´s Laws
8.5 Truth Table and Simplified Boolean Expression from a Given Boolean Expression
8.6 Simplified Boolean Expression and Digital Circuit from a Given Truth Table
8.7 Design of Digital Logic Networks
8.7.1 Define the Problem
8.7.2 Write the Quasi-Logic Statement
8.7.3 Write the Boolean Expression
8.7.4 Simplify the Boolean Expression
8.7.5 Construct the Digital Logic Circuit
8.7.6 Convert to an all-NAND Circuit
8.7.7 Convert to an All-NOR Circuit
8.8 Karnaugh Map (K-Map) for Simplification of Boolean Expressions
8.9 Sequential Logic
8.9.1 SR Flip-Flop
8.9.2 Edge-Triggered SR Flip-Flop
8.9.3 D Flip-Flop
8.9.4 JK Flip-Flop
8.9.5 T Flip-Flop
8.10 Computer-Aided Analysis and Simulation of Digital Logic Circuits
8.10.1 Analysis Using Excel
8.10.2 Simulation Using Tinkercad
Exercises
Bibliography
Chapter 9: Actuators
9.1 Introduction
9.2 Types of Actuators
9.3 Electromechanical Actuators
9.4 DC Motor Characteristics
9.4.1 Dynamic Model of an Armature Controlled DC Motor
9.4.2 Steady-State Characteristics
9.5 Selection of DC Motors
9.6 Electronic Control of DC Motor Speed and Direction
9.6.1 Pulse Width Modulation (PWM)
9.6.2 H-Bridge
9.6.3 L293D Motor Driver IC
9.6.4 L298N Motor Driver Module
9.6.5 DC Motor Speed and Direction Control Using an Arduino
9.7 Stepper Motors
9.7.1 Stepper Motor Characteristics
9.7.2 Driving a Bipolar Stepper Motor Using a Dual H-Bridge and an Arduino
9.8 Computer-Aided Analysis and Simulation of DC Motors
9.8.1 Analysis Using Matlab
9.8.2 Simulation Using Tinkercad
9.9 Laboratory Experiments
9.9.1 Driving a DC Motor Using an H-Bridge (L293N) and an Arduino
9.9.2 Driving a Bipolar Stepper Motor Using a Dual H-Bridge and an Arduino
Exercises
References
Chapter 10: Microcontroller Programming and Interfacing
10.1 Introduction
10.2 Arduino Microcontroller Development Boards
10.3 Arduino Programming Environment
10.4 Arduino Programming Language
10.4.1 Functions
10.4.2 Variables
10.4.3 Structure
10.5 An Example Code
10.6 Virtual Simulation on Tinkercad
10.7 Simulation of Example Codes on Tinkercad
10.7.1 Simulation of digitalRead and digitalWrite on Tinkercad
10.7.2 Simulation of analogRead and analogWrite on Tinkercad
10.7.3 Simulation of Data Type, Time, and Serial Communication on Tinkercad
10.7.4 Simulation of Compound Operators on Tinkercad
10.8 Arduino Programming and Interfacing Examples
10.8.1 Simulation of 3-Bit Binary Patterns (000-111) Using an Arduino and Three LEDs
10.8.2 Simulation of Setting LEDs On/Off Based on the Status of Push Buttons
10.8.3 Simulation of a Digital Logic Circuit for a Multiplexer
10.8.4 Simulation of Ultrasonic Sensor for Distance Measurement with an Arduino
10.9 Simulation on Tinkercad and Physical Validation in Laboratory
10.9.1 Simulation of 4-Bit Binary Patterns (0000-1111) Using an Arduino and 4 LEDs
10.9.2 Simulation of Setting Four LEDs On/Off Based on the Status of Two Push Buttons
10.9.3 Simulation of a Digital Logic Circuit for Implementing
10.9.4 Simulation of Ultrasonic Sensor for Distance Measurement with Arduino
10.9.5 Simulation of a Home Security System Using Digital Logic Gates and an Arduino on Tinkercad
10.9.6 Simulation of a Car Safety System Using Digital Logic Gates and Arduino on Tinkercad
Bibliography
Chapter 11: Basic Control Systems
11.1 Introduction
11.2 Control System Structure
11.2.1 Mathematical Modeling
11.2.2 Open and Closed Loop System Characteristics
11.3 Stability Analysis of Control Systems
11.3.1 Closed Loop Poles on S-Plane
11.3.2 Routh-Hurwitz Criterion
11.3.3 Root Locus Technique
11.3.4 Bode Plot
11.4 Control System Specifications
11.4.1 Design Specifications
11.4.2 Types of Controllers
11.5 Controller Design Method
11.5.1 PID Controller Design Using Time Domain Specifications
11.5.2 PID Controller Design Using Frequency Domain Specifications
11.5.3 Experimental Method: Ziegler-Nichols Method
11.6 Controller Implementation
Exercises
Bibliography
Chapter 12: Mechatronic Systems
12.1 Introduction
12.2 Robotics Project Using Lego Mindstorms EV3
12.3 EV3 Intelligent Brick
12.4 EV3 Sensors
12.5 EV3 Motors
12.6 EV3 Sensor Calibration
12.6.1 Light Sensor Calibration
12.6.2 Touch Sensor Calibration
12.6.3 Ultrasonic Sensor Calibration
12.6.4 Gyro Sensor Calibration
12.7 EV3 Motor Speed Calibration
12.8 EV3 Programming
12.8.1 Line Following
12.8.2 Obstacle Avoidance
12.8.3 Line Following While Avoiding Obstacle
12.8.4 Following a Moving Target
12.9 Project Ideas
Bibliography
Appendices
Appendix A (Tables A.1, A.2, A.3, A.4 and A.5)
Appendix B (Table B.1)
Bibliography
Index