• Book Name: Fundamentals of Mechatronics by Jouaneh
• Author: Jouaneh
• Pages: 415
• Size: 16 MB

INTRODUCTION TO MECHATRONICS

1.1 Introduction

1.2 Examples of Mechatronic Systems

1.3 Overview of Text

ANALOG CIRCUITS AND COMPONENTS

2.1 Introduction

2.2 Analog Circuit Elements

2.3 Mechanical Switches

2.4 Circuit Analysis

2.5 Equivalent Circuits

2.6 Impedance

2.7 AC Signals

2.8 Power in Circuits

2.9 Operational Amplifiers

2.9.1 Comparator Op-Amp

2.9.2 Inverting Op-Amp

2.9.3 Non-Inverting Op-Amp

2.9.4 Differential Op-Amp

2.9.5 Integrating Op-Amp

2.9.6 Power Amplifier

2.10 Grounding

2.11 Solenoids and Relays

2.11.1 Solenoids

2.11.2 Electromechanical Relays

2.12 Chapter Summary

SEMICONDUCTOR ELECTRONIC DEVICES AND DIGITAL CIRCUITS

3.1 Introduction

3.2 Diodes

3.2.1 Zener Diode

3.2.2 LED

3.2.3 Photodiode

3.3 Thyristors

3.4 Bipolar Junction Transistor

3.4.1 Transistor Switch Circuit

3.4.2 Emitter Follower Circuit

3.4.3 Open Collector Output

3.4.4 Phototransistor, Photo Interrupter, and Opto-Isolator

3.5 Metal-Oxide Semiconductor Field Effect Transistor

3.6 Combinational Logic Circuits

3.6.1 Boolean Algebra

3.6.2 Boolean Function Generation from Truth Tables

3.6.3 Multiplexers and Decoders

3.7 Sequential Logic Circuits

3.8 Circuit Families

3.9 Digital Devices

3.10 H-Bridge Drives

MICROCONTROLLERS

4.1 Introduction

4.2 Numbering Systems

4.2.1 Decimal System

4.2.2 Binary System

4.2.4 Negative Number Representation

4.2.5 Representation of Real Numbers

4.3 Microprocessors and Microcontrollers

4.4 PIC Microcontroller

4.4.1 PIC Microcontrollers Families

4.4.2 Pin Layout

4.4.3 PIC MCU Components

4.4.4 Clock/Oscillator Source

4.4.5 I/O and A/D Operation

4.4.6 PWM Output and Reset

4.5 Programming the PIC Microcontroller

4.5.1 Programmers

4.6 C-Language Programming

4.6.1 PIC-C I/O Functions

4.6.2 PIC-C A/D Functions

4.6.3 PIC-C Timing Functions

4.6.4 PIC-C PWM Functions

4.7 PIC MCU Devices and Features

4.7.1 Data Memory

4.7.2 EEPROM Data

4.7.3 Program Memory

4.7.4 Delays and Timers

4.7.5 PWM Timing and Duty Cycle

4.7.6 Watchdog Timer

4.7.7 Power Saving

4.7.8 A/E/USART

4.7.9 Analog Comparator

4.7.10 Synchronous Serial Port (SSP) Interface

4.8 Interrupts

4.8.1 Interrupts Applications

4.8.2 Interrupt Processing

4.8.3 PIC-C Interrupts Handling

4.9 Assembly Language Programming

4.9.1 Assembly Instructions

4.9.2 Assembly Language Programming Examples

4.9.3 Integrating C and Assembly

4.9.4 PIC18 Assembly Instructions

DATA ACQUISITION AND MICROCONTROLLER PC INTERFACING

5.1 Introduction

5.2 Sampling Theory

5.3 Analog-to-Digital Converter

5.3.1 A/D Characteristics

5.3.2 A/D Operation

5.3.3 A/D Input Signal Configuration

5.4 Digital-to-Analog Converter

5.4.1 D/A Characteristics

5.4.2 D/A Operation

5.5 Parallel Port

5.6 Data-Acquisition Board Programming

5.7 USART Serial Port

5.8 Serial Peripheral Interface

5.9 Inter-Integrated Circuit Interface

5.10 USB Communication

5.10.1 USB Standards and Terminology

5.10.2 USB Data Transfer

5.10.3 Transfer Modes

5.10.4 USB Support on PIC Microcontrollers

5.11 Network Connection

5.11.1 Structure and Operation

5.11.2 VBE Programming Support

5.12 Chapter Summary

CONTROL SOFTWARE

6.1 Introduction

6.2 Time and Timers

6.3 Timing Functions

6.3.1 Timer Implementation in MATLAB

6.3.2 Timer Implementation in VBE

6.3.3 Performance Counter

6.3.4 Timing in PIC Microcontroller

6.5.1 Requirements

6.5.2 Implementation

6.6 State Organization

6.7 Control Task Implementation in Software

6.7.1 Implementation in MATLAB

6.7.2 Implementation in VBE

6.7.3 Implementation in a PIC Microcontroller

6.9.1 BackgroundWorker

6.10 Resource Sharing

6.11 Real-Time Operating Systems

6.11.1 PIC-C RTOS System

6.12 Graphical User Interface

6.12.1 MATLAB Graphical User Interface

6.12.2 VBE Graphical User Interface

SENSORS

7.1 Introduction

7.2 Sensor Performance Terminology

7.2.1 Static Characteristics

7.2.2 Dynamic Characteristics

7.3 Displacement Measurement

7.3.1 Potentiometers

7.3.2 LVDT

7.3.3 Incremental Encoder

7.3.4 Absolute Encoder

7.3.5 Resolver

7.4 Proximity Measurement

7.4.1 Hall-Effect Sensors

7.4.2 Inductive Proximity Sensors

7.4.3 Ultrasonic sensors

7.4.4 Contact-Type Proximity Sensors

7.5 Speed Measurement

7.5.1 Tachometer

7.5.2 Encoder

7.6 Strain Measurement

7.7 Force and Torque Measurement

7.7.1 Force Sensors

7.7.2 Force-Sensing Resistor

7.7.3 Torque Sensors

7.8 Temperature Measurement

7.8.1 Thermistors

7.8.2 Thermocouples

7.8.3 RTD

7.8.4 IC Temperature Sensors

7.9 Vibration Measurement

7.9.1 Seismic Mass Operating Principle

7.9.2 Piezoelectric Accelerometers

7.9.3 Integrated Circuit (IC)

Accelerometers

7.10 Signal Conditioning

7.10.1 Filtering

7.10.2 Amplification

7.10.3 Bridge Circuits

7.11 Sensor Output

ACTUATORS

8.1 Introduction

8.2 DC Motors

8.2.1 Brush DC

8.2.2 Brushless DC

8.2.3 Servo Drives

8.2.4 PWM Control of DC Motors

8.3 AC Motors

8.4 Stepper Motors

8.4.1 Drive Methods

8.4.2 Wiring and Amplifiers

8.5 Other Motor Types

8.6 Actuator Selection

FEEDBACK CONTROL

9.1 Introduction

9.2 Open- and Closed-Loop Control

9.3 Design of Feedback Control Systems

9.4 Control Basics

9.5 PID Controller

9.5.1 Speed Control of an Inertia

9.5.2 Position Control of an Inertia

9.6 Digital Implementation of a PID Controller

9.7 Nonlinearities

9.7.1 Saturation

9.7.2 Nonlinear Friction

9.8 Other Control Schemes

9.8.1 On-Off Controller

9.8.2 State Feedback Controller

MECHATRONICS PROJECTS

10.1 Introduction

10.2 Stepper-Motor Driven Rotary Table

10.2.1 Project Objectives

10.2.2 Setup Description

10.2.3 Interface Circuit

10.2.4 Operation Commands

10.2.5 Microcontroller Code

10.2.6 Results

10.2.7 List of Parts Needed

10.3 A Paper-Dispensing System That Uses a Roller Driven By a Position-Controlled DC Motor

10.3.1 Project Objectives

10.3.2 Setup Description

10.3.3 User Interface

10.3.4 Motion Profile

10.3.5 Control Software

10.3.6 Modeling and Simulation of System

10.3.7 Feedback Controller Simulation in MATLAB

10.3.8 Results

10.3.9 List of Parts Needed

10.4 A Temperature-Controlled Heating System That Uses a Heating Coil, a Copper Plate, and a Temperature Sensor .

0.4.1 Project Objectives

10.4.2 Setup Description

10.4.3 VBE PC User Interface

10.4.4 Microcontroller Code

10.4.5 Modeling and Simulation of Physical System

10.4.6 Controller Simulation in MATLAB

10.4.7 Results

10.4.8 List of Parts Needed

10.5 Chapter Summary