Servo Motors and Industrial Control Theory

cover.jpg......Page 1
Mechanical Engineering Series......Page 2
Series Preface......Page 7
Preface......Page 8
Contents......Page 11
1.1 Linear System......Page 14
1.2 Nonlinear Systems......Page 15
1.3 Linearization Technique......Page 16
1.4 Laplace Transform......Page 17
1.5 Transfer Function......Page 20
1.6 First Order Transfer Function......Page 21
1.7 Frequency Response......Page 23
1.8 Second Order Transfer Function......Page 24
1.9 Block Diagram Representation......Page 26
1.10 Frequency Response......Page 28
1.11 Conclusion......Page 29
2.2 Routh-Hurwitz Stability Criteria......Page 30
2.3 Root Locus Method......Page 32
2.4 Nyquist Plot......Page 36
2.5 Bode Diagram......Page 41
2.6 Steady State Error......Page 52
3.1 Introduction......Page 55
3.2 State Variables......Page 56
3.3 Eigenvalues, Eigenvectors, and Characteristic Equation......Page 59
3.4 State Variable Feedback Control Theory......Page 62
3.5 Dynamic Observer......Page 67
3.6 Controllability and Observability......Page 68
3.7 Conclusion......Page 70
4.1 Types of DC Servo Motors......Page 71
4.2 Types of Power Unit......Page 72
4.3 Speed Torque Characteristic of DC Servo Motors......Page 74
4.4 DC Servo Motors in Open and Closed Loop Velocity Control......Page 75
4.5 DC Servo Motors in Closed Loop Position Control......Page 78
4.6 DC Servo Motors for Very High Performance Requirements......Page 80
4.7 Properties of Power Unit......Page 89
5.1 Principal Operation......Page 92
5.2 Stepping Motors with Small Step Angle......Page 94
5.3 Torque-Displacement Characteristic of a Stepping Motor......Page 95
5.4 Dynamic Response Characteristic over One Step Movement......Page 97
5.5 Speed-Torque Characteristic Behavior of Stepping Motors......Page 98
5.6 Stepping Motors for Position Control Applications......Page 99
6.2 Variable Speed AC Motors......Page 101
6.3 Mathematical Model......Page 102
6.4 Frequency Converter......Page 107
6.5 Conclusion......Page 112
7.1 Introduction......Page 113
7.2 A Simple Mechanically Controlled Servo System......Page 114
7.3 Electrohydraulic Servo Valves......Page 117
7.4 Hydraulic Servo Motors......Page 119
7.5 A Numerical Investigation of the Transient Behavior of an Electrohydraulic Servo Motor Under Different Conditions......Page 122
7.6 Conclusion......Page 127
8.1 Introduction......Page 129
8.2.2 ER Clutch and Catch Type Actuators......Page 130
8.2.3 Variable Dampers Based on ER Fluid......Page 131
8.3 Properties of ER Fluid in Flow Mode......Page 132
8.4 Properties of ER Fluid in Shear Mode......Page 137
8.5 Conclusion......Page 139
9.1 Introduction......Page 141
9.2 Theory and Performance Criteria......Page 142
9.3 Comparison of Results and Design Procedure......Page 145
9.4 An Example on Choosing a Servo Motor......Page 155
9.5 Conclusion......Page 156
Exercise Problems on Classical Feedback Control Theory (Chapters 1 and 2)......Page 158
Appendix B Exercise Problems on State Variable Feedback Control Theory (Chapter 3)......Page 182
C.1 Electrical DC Servo Motors......Page 205
C.2 Electrical Stepping Servo Motors......Page 217
C.3 Electrical AC Servo Motors......Page 221
C.4 Electrohydraulic Servo Motors......Page 224
C.5 Actuators based on Electro-Rheological Fluid (ERF)......Page 228
C.6 Selection of a Servo Motor for Particular Applications......Page 231
Index......Page 232