Introduction to Mechatronics and Measurement Systems

573 Pages·2011·37.2 MB·English

by  David Alciatore

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Introduction to Mechatronics
and Measurement Systems
Fourth Edition
David G. Alciatore
Department of Mechanical Engineering
Colorado State University
Michael B. Histand
Professor Emeritus
Department of Mechanical Engineering
Colorado State University
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INTRODUCTION TO MECHATRONICS AND MEASUREMENT SYSTEMS, FOURTH EDITION
Published by McGraw-Hill, a business unit of The McGraw-Hill Companies, Inc., 1221 Avenue of the
Americas, New York, NY 10020. Copyright © 2012 by The McGraw-Hill Companies, Inc. All rights reserved.
Previous editions © 2007, 2003 and 1999. No part of this publication may be reproduced or distributed in
any form or by any means, or stored in a database or retrieval system, without the prior written consent of
The McGraw-Hill Companies, Inc., including, but not limited to, in any network or other electronic storage or
transmission, or broadcast for distance learning.
Some ancillaries, including electronic and print components, may not be available to customers outside
the United States.
This book is printed on acid-free paper.
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Library of Congress Cataloging-in-Publication Data
Alciatore, David G.
Introduction to mechatronics and measurement systems / David G. Alciatore.—4th ed.
p. cm.
Includes index.
ISBN 978-0-07-338023-0
1. Mechatronics. 2. Measurement. I. Title.
TJ163.12.H57 2011
621—dc22
2010052867
www.mhhe.com
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CONTENTS
Lists vii 2.9 Impedance Matching 47
2.10 Practical Considerations 50
Class Discussion Items vii
2.10.1 Capacitor Information 50
Examples ix
2.10.2 Breadboad and Prototyping Advice 51
Design Examples x
2.10.3 Voltage and Current Measurement 54
Threaded Design Examples xi
2.10.4 Soldering 54
2.10.5 The Oscilloscope 58
Preface xiii
2.10.6 Grounding and Electrical Interference 61
2.10.7 Electrical Safety 63
Chapter 1
Introduction 1
Chapter 3
1.1 Mechatronics 1 Semiconductor Electronics 73
1.2 Measurement Systems 4
3.1 Introduction 74
1.3 Threaded Design Examples 5
3.2 Semiconductor Physics as the Basis for
Understanding Electronic Devices 74
Chapter 2 3.3 Junction Diode 75
Electric Circuits 3.3.1 Zener Diode 81
and Components 11 3.3.2 Voltage Regulators 85
3.3.3 Optoelectronic Diodes 87
2.1 Introduction 12
3.3.4 Analysis of Diode Circuits 88
2.2 Basic Electrical Elements 14
3.4 Bipolar Junction Transistor 90
2.2.1 Resistor 14
3.4.1 Bipolar Transistor Physics 90
2.2.2 Capacitor 19
3.4.2 Common Emitter Transistor Circuit 92
2.2.3 Inductor 20
3.4.3 Bipolar Transistor Switch 97
2.3 Kirchhoff’s Laws 22
3.4.4 Bipolar Transistor Packages 99
2.3.1 Series Resistance Circuit 24
3.4.5 Darlington Transistor 100
2.3.2 Parallel Resistance Circuit 26
3.4.6 Phototransistor and Optoisolator 100
2.4 Voltage and Current Sources and Meters 30
3.5 Field-Effect Transistors 102
2.5 Thevenin and Norton Equivalent Circuits 35
3.5.1 Behavior of Field-Effect Transistors 103
2.6 Alternating Current Circuit Analysis 37
3.5.2 Symbols Representing Field-Effect
2.7 Power in Electrical Circuits 44 Transistors 106
2.8 Transformer 46 3.5.3 Applications of MOSFETs 107
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iv Contents
Chapter 4 Chapter 6
System Response 117 Digital Circuits 197
4.1 System Response 118 6.1 Introduction 198
4.2 Amplitude Linearity 118 6.2 Digital Representations 199
4.3 Fourier Series Representation of Signals 120 6.3 Combinational Logic and Logic
4.4 Bandwidth and Frequency Response 124 Classes 202
4.5 Phase Linearity 129 6.4 Timing Diagrams 205
4.6 Distortion of Signals 130 6.5 Boolean Algebra 206
4.7 Dynamic Characteristics of Systems 131 6.6 Design of Logic Networks 208
4.8 Zero-Order System 132 6.6.1 Define the Problem in Words 208
4.9 First-Order System 134 6.6.2 Write Quasi-Logic Statements 209
4.9.1 Experimental Testing of a First-Order 6.6.3 Write the Boolean Expression 209
System 136 6.6.4 And Realization 210
4.10 Second-Order System 137 6.6.5 Draw the Circuit Diagram 210
4.10.1 Step Response of a Second-Order 6.7 Finding a Boolean Expression Given a
System 141 Truth Table 211
4.10.2 Frequency Response of a System 143 6.8 Sequential Logic 214
4.11 System Modeling and Analogies 150 6.9 Flip-Flops 214
6.9.1 Triggering of Flip-Flops 216
Chapter 5 6.9.2 Asynchronous Inputs 218
Analog Signal Processing Using 6.9.3 D Flip-Flop 219
Operational Amplifiers 161 6.9.4 JK Flip-Flop 219
6.10 Applications of Flip-Flops 222
5.1 Introduction 162
6.10.1 Switch Debouncing 222
5.2 Amplifiers 162
6.10.2 Data Register 223
5.3 Operational Amplifiers 164
6.10.3 Binary Counter and Frequency
5.4 Ideal Model for the Operational Divider 224
Amplifier 164
6.10.4 Serial and Parallel Interfaces 224
5.5 Inverting Amplifier 167
6.11 TTL and CMOS Integrated Circuits 226
5.6 Noninverting Amplifier 169
6.11.1 Using Manufacturer IC Data
5.7 Summer 173 Sheets 228
5.8 Difference Amplifier 173 6.11.2 Digital IC Output Configurations 230
5.9 Instrumentation Amplifier 175 6.11.3 Interfacing TTL and CMOS Devices 232
5.10 Integrator 177 6.12 Special Purpose Digital Integrated
5.11 Differentiator 179 Circuits 235
5.12 Sample and Hold Circuit 18 0 6.12.1 Decade Counter 235
5.13 Comparator 181 6.12.2 Schmitt Trigger 239
5.14 The Real Op Amp 182 6.12.3 555 Timer 240
5.14.1 Important Parameters from Op Amp Data 6.13 Integrated Circuit System Design 245
Sheets 183 6.13.1 IEEE Standard Digital Symbols 249
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Contents v
Chapter 7 8.6.2 The USB 6009 Data Acquisition Card 367
Microcontroller Programming 8.6.3 Creating a VI and Sampling Music 369
and Interfacing 258
7.1 Microprocessors and Microcomputers 259 Chapter 9
7.2 Microcontrollers 261 Sensors 375
7.3 The PIC16F84 Microcontroller 264
9.1 Introduction 376
7.4 Programming a PIC 268
9.2 Position and Speed Measurement 376
7.5 PicBasic Pro 274
9.2.1 Proximity Sensors and Switches 377
7.5.1 PicBasic Pro Programming
9.2.2 Potentiometer 379
Fundamentals 274
9.2.3 Linear Variable Differential
7.5.2 PicBasic Pro Programming Examples 282
Transformer 380
7.6 Using Interrupts 294
9.2.4 Digital Optical Encoder 383
7.7 Interfacing Common PIC Peripherals 298 9.3 Stress and Strain Measurement 391
7.7.1 Numeric Keypad 298 9.3.1 Electrical Resistance Strain Gage 392
7.7.2 LCD Display 301 9.3.2 Measuring Resistance Changes with a
7.8 Interfacing to the PIC 306 Wheatstone Bridge 396
7.8.1 Digital Input to the PIC 306 9.3.3 Measuring Different States of Stress with
7.8.2 Digital Output from the PIC 308 Strain Gages 400
7.9 Method to Design a Microcontroller-Based 9.3.4 Force Measurement with Load Cells 405
System 309 9.4 Temperature Measurement 407
7.10 Practical Considerations 336 9.4.1 Liquid-in-Glass Thermometer 408
7.10.1 PIC Project Debugging Procedure 336 9.4.2 Bimetallic Strip 408
7.10.2 Power Supply Options for PIC Projects 337 9.4.3 Electrical Resistance Thermometer 408
7.10.3 Battery Characteristics 339 9.4.4 Thermocouple 409
7.10.4 Other Considerations for Project 9.5 Vibration and Acceleration
Prototyping and Design 342 Measurement 414
9.5.1 Piezoelectric Accelerometer 421
9.6 Pressure and Flow Measurement 425
Chapter 8
9.7 Semiconductor Sensors and
Data Acquisition 346
Microelectromechanical Devices 425
8.1 Introduction 347
8.2 Quantizing Theory 351
Chapter 10
8.3 Analog-to-Digital Conversion 352
Actuators 431
8.3.1 Introduction 352
8.3.2 Analog-to-Digital Converters 356 10.1 Introduction 432
8.4 Digital-to-Analog Conversion 359 10.2 Electromagnetic Principles 432
8.5 Virtual Instrumentation, Data Acquisition, 10.3 Solenoids and Relays 433
and Control 363 10.4 Electric Motors 435
8.6 Practical Considerations 365 10.5 DC Motors 441
8.6.1 Introduction to LabVIEW Programming 365 10.5.1 DC Motor Electrical Equations 444
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vi Contents
10.5.2 Permanent Magnet DC Motor Dynamic 11.4 Case Study 1—Myoelectrically Controlled
Equations 445 Robotic Arm 494
10.5.3 Electronic Control of a Permanent Magnet 11.5 Case Study 2—Mechatronic Design of a Coin
DC Motor 447 Counter 507
10.6 Stepper Motors 453 11.6 Case Study 3—Mechatronic Design of a
10.6.1 Stepper Motor Drive Circuits 460 Robotic Walking Machine 516
10.7 Selecting a Motor 463 11.7 List of Various Mechatronic Systems 5 21
10.8 Hydraulics 468
10.8.1 Hydraulic Valves 470
Appendix A
10.8.2 Hydraulic Actuators 473
Measurement Fundamentals 523
10.9 Pneumatics 474
A.1 Systems of Units 523
A.1.1 Three Classes of SI Units 525
Chapter 1 1
A.1.2 Conversion Factors 527
Mechatronic Systems—Control
A.2 Significant Figures 528
Architectures and Case
A.3 Statistics 530
Studies 478
A.4 Error Analysis 533
11.1 Introduction 479
A.4.1 Rules for Estimating Errors 534
11.2 Control Architectures 479
11.2.1 Analog Circuits 479
Appendix B
11.2.2 Digital Circuits 480
Physical Principles 536
11.2.3 Programmable Logic Controller 480
11.2.4 Microcontrollers and DSPs 482
11.2.5 Single-Board Computer 483
Appendix C
11.2.6 Personal Computer 483
Mechanics of Materials 541
11.3 Introduction to Control Theory 483
11.3.1 Armature-Controlled DC Motor 484 C.1 Stress and Strain Relations 541
11.3.2 Open-Loop Response 486
11.3.3 Feedback Control of a DC Motor 487 Index 545
11.3.4 Controller Empirical Design 491
11.3.5 Controller Implementation 492
11.3.6 Conclusion 493
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CLASS DISCUSSION ITEMS
1.1 Household Mechatronic Systems 4 4.4 Assumptions for a Zero-Order
Potentiometer 133
2.1 Proper Car Jump Start 14 4.5 Spring-Mass-Damper System in Space 141
2.2 Improper Application of a Voltage Divider 26 4.6 Good Measurement System Response 142
2.3 Reasons for AC 39 4.7 Slinky Frequency Response 146
2.4 Transmission Line Losses 45 4.8 Suspension Design Results 150
2.5 International AC 46 4.9 Initial Condition Analogy 152
2.6 AC Line Waveform 46 4.10 Measurement System Physical
2.7 DC Transformer 47 Characteristics 155
2.8 Audio Stereo Amplifier Impedances 49
5.1 Kitchen Sink in an OP Amp Circuit 169
2.9 Common Usage of Electrical Components 49
5.2 Positive Feedback 171
2.10 Automotive Circuits 62
5.3 Example of Positive Feedback 171
2.11 Safe Grounding 64
5.4 Integrator Behavior 178
2.12 Electric Drill Bathtub Experience 65
5.5 Differentiator Improvements 180
2.13 Dangerous EKG 65
5.6 Integrator and Differentiator
2.14 High-Voltage Measurement Pose 66
Applications 180
2.15 Lightning Storm Pose 66
5.7 Real Integrator Behavior 187
5.8 Bidirectional EMG Controller 191
3.1 Real Silicon Diode in a Half-Wave
Rectifier 80
6.1 Nerd Numbers 201
3.2 Inductive “Kick” 80
6.2 Computer Magic 202
3.3 Peak Detector 80
6.3 Everyday Logic 211
3.4 Effects of Load on Voltage Regulator
6.4 Equivalence of Sum of Products and
Design 83
Product of Sums 214
3.5 78XX Series Voltage Regulator 86
6.5 JK Flip-Flop Timing Diagram 222
3.6 Automobile Charging System 86
6.6 Computer Memory 222
3.7 Voltage Limiter 90
6.7 Switch Debouncer Function 223
3.8 Analog Switch Limit 108
6.8 Converting Between Serial and
3.9 Common Usage of Semiconductor
Parallel Data 225
Components 109
6.9 Everyday Use of Logic Devices 226
4.1 Musical Harmonics 124 6.10 CMOS and TTL Power Consumption 228
4.2 Measuring a Square Wave with a Limited 6.11 NAND Magic 229
Bandwidth System 126 6.12 Driving an LED 232
4.3 Analytical Attenuation 131 6.13 Up-Down Counters 239
vii
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viii Class Discussion Items
6.14 Astable Square-Wave Generator 244 9.6 Encoder 1X Circuit with Jitter 388
6.15 Digital Tachometer Accuracy 246 9.7 Robotic Arm with Encoders 389
6.16 Digital Tachometer Latch Timing 246 9.8 Piezoresistive Effect in Strain Gages 396
6.17 Using Storage and Bypass Capacitors in 9.9 Wheatstone Bridge Excitation Voltage 398
Digital Design 247 9.10 Bridge Resistances in Three-Wire Bridges 399
9.11 Strain Gage Bond Effects 404
7.1 Car Microcontrollers 264
9.12 Sampling Rate Fixator Strain Gages 407
7.2 Decrement Past 0 273
9.13 Effects of Gravity on an Accelerometer 418
7.3 PicBasic Pro and Assembly Language
9.14 Piezoelectric Sound 424
Comparison 284
7.4 PicBasic Pro Equivalents of Assembly
10.1 Examples of Solenoids, Voice Coils,
Language Statements 284
and Relays 435
7.5 Multiple Door and Window Security
10.2 Eddy Currents 437
System 287
10.3 Field-Field Interaction in a Motor 440
7.6 PIC vs. Logic Gates 287
10.4 Dissection of Radio Shack Motor 441
7.7 How Does Pot Work? 289
10.5 Stepper Motor Logic 461
7.8 Software Debounce 290
10.6 Motor Sizing 467
7.9 Fast Counting 294
10.7 Examples of Electric Motors 467
7.10 Negative Logic LED 343
10.8 Force Generated by a Double-Acting
Cylinder 474
8.1 Wagon Wheels and the Sampling
Theorem 349
11.1 Derivative Filtering 493
8.2 Sampling a Beat Signal 350
11.2 Coin Counter Circuits 511
8.3 Laboratory A/D Conversion 352
8.4 Selecting an A/D Converter 357 A.1 Definition of Base Units 523
8.5 Bipolar 4-Bit D/A Converter 361 A.2 Common Use of SI Prefixes 527
8.6 Audio CD Technology 363 A.3 Physical Feel for SI Units 527
8.7 Digital Guitar 363 A.4 Statistical Calculations 532
A.5 Your Class Age Histogram 532
9.1 Household Three-Way Switch 379
A.6 Relationship Between Standard
9.2 LVDT Demodulation 381
Deviation and Sample Size 533
9.3 LVDT Signal Filtering 383
9.4 Encoder Binary Code Problems 384 C.1 Fracture Plane Orientation in a Tensile
9.5 Gray-to-Binary-Code Conversion 387 Failure 544
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