Introduction to Mechatronics and Measurement Systems
Figures
Figure 1.1 - Mechatronic system components
Figure 1.2 - Inkjet printer components
Figure 1.3 - Elements of a measurement system
Example 1.2 - Measurement system - digital thermometer
Figure 1.4 - Functional diagram of the DC motor speed controller
Figure 1.5 - Photograph of the power-amp speed controller
Figure 1.6 - Functional diagram of the stepper motor position and speed controller
Figure 1.7 - Photograph of the stepper motor position and speed controller
Figure 1.8 - Functional diagram for the DC motor position and speed controller
Figure 1.9 - Photograph of the DC motor position and speed controller
Chapter 2 - Mechatronic system components outline
Figure 2.1 - Electrical circuits
Figure 2.2 - Electric circuit terminology
Figure 2.3 - Basic electrical elements
Figure 2.4 - Examples of basic circuit elements
Figure 2.5 - Voltage-current relation for an ideal resistor
Figure 2.6 - Wire resistance
Figure 2.7 - Resistor packaging
Figure 2.8 - Examples of resistor packaging
Figure 2.9 - Axial-lead resistor color bands
Figure 2.10 - Potentiometer schematic symbols
Figure 2.11 - Parallel plate capacitor
Figure 2.12 - Inductor flux linkage
Figure 2.13 - Kirchhoff’s voltage law
Example 2.3 - Kirchoff's voltage law
Figure 2.14 - Kirchhoff’s current law
Figure 2.15 - Series resistance circuit
Figure 2.16 - Parallel resistance circuit
Example 2.4 - Circuit analysis (
part a
,
part b
)
Figure 2.17 - Circuit schematic connection conventions
Figure 2.18 - Real voltage source with output impedance
Figure 2.19 - Example of a commercially available power supply
Figure 2.20 - Real current source with output impedance
Figure 2.21 - Real ammeter with input impedance
Figure 2.22 - Real voltmeter with input impedance
Figure 2.23 - Examples of commercially available digital multimeters
Figure 2.24 - Example of a commercially available oscilloscope
Example 2.5 - Input and output impedance (
part a
,
part b
,
part c
,
part d
)
Figure 2.25 - Example illustrating Thevenin’s theorem
Figure 2.26 - Thevenin equivalent circuit
Figure 2.27 - Norton equivalent circuit
Figure 2.28 - Sinusoidal waveform
Figure 2.29 - Sinusoidal signal DC offset
Figure 2.30 - Phasor representation of a sinusoidal signal
Example 2.7 - AC circuit analysis
Figure 2.31 - Power in a circuit element
Figure 2.32 - Transformer
Figure 2.33 - Signal termination
Figure 2.34 - Impedance matching—string analogy
Figure 2.35 - Impedance matching
Figure 2.36 - Breadboard
Figure 2.37 - Example resistor circuit schematic
Figure 2.38 - Example Breadboard Circuit
Figure 2.39 - Measuring voltage (
part a
,
part b
)
Figure 2.40 - Measuring current (
part a
,
part b
)
Figure 2.41 - Soldering iron
Figure 2.42 - Preparing a soldered joint
Figure 2.43 - Successful solder joint
Figure 2.44 - Removing a soldered joint
Figure 2.45 - Oscilloscope coupling
Figure 2.46 - Common ground connection
Figure 2.47 - Relative ground connection
Figure 2.48 - Common ground
Figure 2.49 - Inductive coupling
Figure 2.50 - Ground loop
Figure 2.51 - Three-prong AC power plug
Chapter 3 - Mechatronic system components outline
Figure 3.1 - Valence and conduction bands of materials
Figure 3.2 - pn junction characteristics
Figure 3.3 - Silicon diode
Figure 3.4 - Examples of common diodes
Figure 3.5 - Diode check valve analogy
Figure 3.6 - Ideal, approximate, and real diode curves
Example 3.1 - Half-wave rectifier circuit assuming an ideal diode (
part a
,
part b
)
Figure 3.7 - Zener diode symbol and current-voltage relationship
Figure 3.8 - Zener diode voltage regulator
Figure 3.9 - Zener diode voltage regulator circuit
Figure 3.10 - 15 V regulated DC supply
Figure 3.11 - 1.2 to 37 V adjustable regulator
Figure 3.12 - Light-emitting diode (LED)
Figure 3.13 - Typical LED circuit in digital systems
Figure 3.14 - Photodiode light detector circuit
Example 3.3 - Analysis of circuits with more than one diode (
part a
,
part b
,
part c
,
part d
,
part e
)
Figure 3.15 - npn bipolar junction transistor
Figure 3.16 - pnp bipolar junction transistor
Figure 3.17 - Common emitter circuit
Figure 3.18 - Common emitter characteristics for a transistor
Example 3.4 - Guaranteeing a transistor is in saturation
Figure 3.19 - Transistor experiments
Figure 3.20 - Common emitter experimental results
Figure 3.21 - Emitter degeneration experimental results
Figure 3.22 - Transistor switch circuit
Figure 3.23 - Models for transistor switch states
Design Example 3.2 - LED Switch
Figure 3.24 - Bipolar transistor packages
Figure 3.25 - Various common transistor packages
Figure 3.26 - Darlington pair
Figure 3.27 - Opto-isolator
Design Example 3.3 - Angular position of a robotic scanner (
part a
,
part b
)
Figure 3.28 - n-channel enhancement-mode MOSFET
Figure 3.29 - Enhancement-mode MOSFET n-channel formation
Figure 3.30 - n-channel enhancement-mode MOSFET characteristic curves
Figure 3.31 - MOSFET experiment
Figure 3.32 - p-channel enhancement-mode MOSFET
Figure 3.33 - Field effect transistor schemativ symbols
Figure 3.34 - MOSFET power switch circuit
Figure 3.35 - MOSFET analog switch circuit
Design Example 3.4 - Circuit to swith power
Chapter 4 - Mechatronic system components outline
Figure 4.1 - Measurement system input-output
Figure 4.2 - Amplitude linearity and nonlinearity
Figure 4.3 - Square wave
Figure 4.4 - Harmonic decomposition of a square wave
Figure 4.5 - Spectrum of a square wave
Figure 4.6 - Frequency response and bandwidth
Figure 4.7 - Effect of measurement system bandwidth on signal spectrum
Example 4.1 - Bandwidth of an electrical network (
part a
,
part b
)
Figure 4.8 - Relationship between phase and time displacement
Figure 4.9 - Amplitude distortion of a square wave
Figure 4.10 - Phase distortion of a square wave
Figure 4.11 - Displacement potentiometer
Threaded Design Example B.2 - DC motor power-op-amp speed controller - potentiometer interface (
part a
,
part b
)
Figure 4.12 - First-order response
Figure 4.13 - Experimental determination of
t
Figure 4.14 - Second-order mechanical system and free-body diagram
Figure 4.15 - Strip chart recorder as an example of a second-order system
Figure 4.16 - Transient response of second-order systems
Figure 4.17 - Second-order step responses
Figure 4.18 - Features of an underdamped step response
Figure 4.19 - Second-order system amplitude response
Figure 4.20 - Second-order system phase response
Design Example 4.1 - Automobile suspension selection (
part a
,
part b
,
part c
,
part d
,
part e
,
part f
)
Figure 4.21 - Example of system analogies
Figure 4.22 - Mechanical system analogy example
Figure 4.23 - Beginning the analog schematic
Figure 4.24 - Electrical system analogy example
Chapter 5 - Mechatronic system components outline
Figure 5.1 - Amplifier model
Figure 5.2 - Op amp terminology and schematic
Figure 5.3 - Op amp feedback
Figure 5.4 - Op amp equivalent circuit
Figure 5.5 - 741 op amp pin-out
Figure 5.6 - 741 internal design
Figure 5.7 - Inverting amplifier
Figure 5.8 - Equivalent circuit for inverting amplifier
Figure 5.9 - Illustration of inversion
Figure 5.10 - Noninverting amplifier
Figure 5.11 - Equivalent circuit for noninverting amplifier
Figure 5.12 - Buffer or follower
Threaded Design Example A.3 - DC motor power-op-amp speed controller - power amp motor driver (
part a
,
part b
)
Figure 5.13 - Summer circuit
Figure 5.14 - Difference amplifier circuit
Figure 5.15 - Difference amplifier with V
2
shorted
Figure 5.16 - Difference amplifier with V
1
shorted
Figure 5.17 - Instrumentation amplifier
Figure 5.18 - Ideal integrator
Figure 5.19 - Improved integrator
Figure 5.20 - Differentiator
Figure 5.21 - Sample and hold circuit
Figure 5.22 - Comparator
Figure 5.23 - Comparator open collector output
Figure 5.24 - Effect of slew rate on a square wave
Figure 5.25 - Typical op amp open- and closed-loop response
Figure 5.26 - Example op amp data sheet (
part a
,
part b
)
Figure 5.27 - TL071 FET input op amp
Example 5.1 - Sizing resistors in op amp circuits
Design Example 5.1 - Myogenic control of a prosthetic limb (
part a
,
part b
,
part c
,
part d
,
part e
,
part f
,
part g
)
Chapter 6 - Mechatronic system components outline
Figure 6.1 - Analog and digital signals
Figure 6.2 - AND gate timing diagram
Figure 6.3 - OR gate timing diagram
Example 6.2 - Combinational logic
Figure 6.4 - AND realization schematic of the security system
Example 6.4 - Sum of products and product of sums
Figure 6.5 - Clock pulse edges
Figure 6.6 - RS flip-flop
Figure 6.7 - RS flip-flop internal design and timing
Figure 6.8 - Edge-triggered RS flip-flops
Figure 6.9 - Positive edge-triggered RS flip-flop timing diagram
Figure 6.10 - Latch
Figure 6.11 - Latch timing diagram
Figure 6.12 - Preset and clear flip-flop functions
Figure 6.13 - Positive edge-triggered D flip-flop
Figure 6.14 - Negative edge-triggered JK flip-flop
Figure 6.15 - Positive edge-triggered T flip-flop
Example 6.5 - Flip-flop circuit timing diagram
Figure 6.16 - Switch bounce
Figure 6.17 - Switch debouncer circuit
Figure 6.18 - 4-bit data register
Figure 6.19 - 4-bit binary counter
Figure 6.20 - Serial-to-parallel converter
Figure 6.21 - Parallel-to-serial converter
Figure 6.22 - TTL and CMOS input and output levels
Figure 6.23 - TTL and CMOS output circuits
Figure 6.24 - NAND gate internal design
Figure 6.25 - QUAD NAND gate IC pin-out
Figure 6.26 - DM74LS00 NAND gate IC data sheet
Figure 6.27 - CMOS 4011B NAND gate internal design
Figure 6.28 - CMOS 4011B NAND gate IC data sheet
Figure 6.29 - Open collector output with pull-up resistor
Figure 6.30 - Interfacing TTL to digital devices
Figure 6.31 - Interfacing CMOS to digital devices
Figure 6.32 - Decade counter timing
Figure 6.33 - Cascaded decade counters
Figure 6.34 - Seven-segment LED display
Figure 6.35 - Two-digit LED display and a 7447 display decoder
Figure 6.36 - 7447 internal design
Figure 6.37 - 7447 output circuit
Figure 6.38 - Input and output of a Schmitt trigger
Figure 6.39 - Schmitt trigger SPST debounce circuit
Figure 6.40 - Block diagram of the 555 IC
Figure 6.41 - 555 pin-out
Figure 6.42 - Monostable multivibrator (one-shot)
Figure 6.43 - One-shot timing
Figure 6.44 - Astable pulse generator
Figure 6.45 - Astable multivibrator capacitor voltage and output signal
Design Example 6.1 - Digital tachometer (
part a
,
part b
)
Design Example 6.2 - Digital control of power to a load using specialized ICs (
part a
,
part b
)
Figure 6.46 - IEEE standard symbols for digital ICs
Chapter 7 - Mechatronic system components outline
Figure 7.1 - Microcomputer architecture
Figure 7.2 - Components of a typical full-featured microcontroller
Figure 7.3 - PIC16F84 block diagram
Figure 7.4 - PIC16F84 pin-out and required external components
Figure 7.5 - Required PIC16F84 components on a breadboard
Figure 7.6 - Reset switch circuit
Example 7.2 - Assembly language programming example
Figure 7.7 - Circuit schematic for the flash.bas example
Example 7.5 - PicBasic Pro program for security system example
Example 7.6 - Graphically displaying the value of a potentiometer
Design Example 7.1 - Option for driving a seven-segment digital display with a PIC (
part a
,
part b
,
part c
)
Figure 7.8 - Interrupt example schematic
Figure 7.9 - Numeric keypad
Figure 7.10 - Photograph of 12-key and 16-key numeric keypads
Figure 7.11 - Numeric keypad schematic and PIC interface
Figure 7.12 - Photograph of an LCD
Figure 7.13 - LCD PIC interface
Threaded Design Example C.2 - DC motor position and speed controller - keypad and LCD interfaces (
part a
,
part b
)
Figure 7.14 - Block diagram for pins RA0 through RA3
Figure 7.15 - Block diagram for pin RA4
Figure 7.16 - Block diagram for pins RB4 through RB7
Figure 7.17 - Block diagram for pins RB0 through RB3
Figure 7.18 - Interface circuits for input devices
Figure 7.19 - Interface circuits for output devices
Figure 7.20 - Software flowchart building blocks
Design Example 7.2 - PIC solution to an actuated security device (
part a
,
part b
,
part c
,
part d
)
Threaded Design Example A.4 - DC motor power-op-amp speed controller - full solution (
part a
,
part b
)
Threaded Design Example B.2 - Stepper motor position and speed controller - full solution (
part a
,
part b
)
Threaded Design Example C.3 - DC motor position and speed controller - full solution with serial interface (
part a
,
part b
)
Figure 7.21 - Low-cost power supply options
Figure 7.22 - Example of a full-featured instrumentation power supply
Figure 7.23 - 7805 voltage regulator connections
Figure 7.24 - Specifications for an example closed-frame power supply
Figure 7.25 - Example battery discharge curve
Chapter 8 - Mechatronic system components outline
Figure 8.1 - Analog signal and sampled equivalent
Figure 8.2 - Aliasing
Example 8.1 - Sampling theorem and aliasing
Figure 8.3 - Analog-to-digital conversion
Figure 8.4 - Components used in A/D conversion
Figure 8.5 - Various form factors of data acquisition products
Figure 8.6 - Example data acquisition and control card
Figure 8.7 - Example data acquisition and control card architecture
Figure 8.8 - A/D conversion aperture time
Figure 8.9 - Successive approximation A/D converter
Figure 8.10 - 4-bit successive approximation A/D conversion
Figure 8.11 - A/D flash converter
Figure 8.12 - 4-bit resistor ladder D/A converter
Figure 8.13 - 4-bit resistor ladder D/A with digital input 0001
Threaded Design Example A.5 - DC motor power-op-amp speed controller - D/A converter interface (
part a
,
part b
)
Figure 8.14 - Computer control hardware
Figure 8.15 - Example custom graphical user interface created with LabVIEW
Figure 8.16 - Example LabVIEW block diagram
Figure 8.17 - Example block diagram
Figure 8.18 - Example front panel
Figure 8.19 - The USB 6009 connected to the computer with the screw terminals attached
Section 8.6.3 - Creating a VI and sampling music (
part a
,
part b
,
part c
)
Chapter 9 - Mechatronic system components outline
Figure 9.1 - Various configurations for photoemitter-detector pairs
Figure 9.2 - Example of a photoemitter-detector pair in a single housing
Figure 9.3 - Switches
Figure 9.4 - Photograph of various types of switches
Figure 9.5 - Potentiometer
Figure 9.6 - Photograph of a trim pot and a rotary pot
Figure 9.7 - Linear variable differential transformer
Figure 9.8 - LVDT linear range
Figure 9.9 - LVDT demodulation
Figure 9.10 - LVDT output filter
Figure 9.11 - Commercial LVDT
Figure 9.12 - Components of an optical encoder
Figure 9.13 - 4-bit gray code absolute encoder disk track patterns
Figure 9.14 - 4-bit natural binary absolute encoder disk track patterns
Figure 9.15 - Gray-code-to-binary-code conversion
Figure 9.16 - Incremental encoder disk track patterns
Figure 9.17 - Quadrature direction sensing and resolution enhancement
Figure 9.18 - 1X quadrature decoder circuit
Threaded Design Example C.4 - DC motor position and speed controller - digital encoder interface (
part a
,
part b
)
Figure 9.19 - Metal foil strain gage construction
Figure 9.20 - Strain gage application
Figure 9.21 - Rectangular conductor
Figure 9.22 - Static balanced bridge circuit
Figure 9.23 - Dynamic unbalanced bridge circuit
Figure 9.24 - Leadwire effects in 1/4 bridge circuits
Figure 9.25 - Temperature compensation with a dummy gage in half bridge
Figure 9.26 - Bar under uniaxial stress
Figure 9.27 - Biaxial stress in a long, thin-walled pressure vessel
Figure 9.28 - General state of planar stress on the surface of a component
Figure 9.29 - Assortment of different strain gage and rosette configurations
Figure 9.30 - Most common strain gage rosette configurations
Figure 9.31 - Rectangular strain gage rosette
Figure 9.32 - Various three-gage commercial rosettes
Figure 9.33 - Typical axial load cells
Design Example 9.1 - A strain gage load cell for an exteriorized skeletal fixator
Figure 9.34 - Bimetallic strip
Figure 9.35 - Thermoelectric junction
Figure 9.36 - Thermocouple circuit
Figure 9.37 - Law of leadwire temperatures
Figure 9.38 - Law of intermediate leadwire metals
Figure 9.39 - Law of intermediate junction metals
Figure 9.40 - Law of intermediate temperatures
Figure 9.41 - Law of intermediate metals
Figure 9.42 - Standard thermocouple configuration
Figure 9.43 - Attaching leadwires of selected metal
Figure 9.44 - Thermopile
Figure 9.45 - Thermocouple types and characteristics
Figure 9.46 - Accelerometer displacement references and free-body diagram
Figure 9.47 - Ideal accelerometer amplitude response
Figure 9.48 - Ideal accelerometer phase response
Figure 9.49 - Vibrometer amplitude response
Figure 9.50 - Piezoelectric accelerometer construction
Figure 9.51 - Equivalent circuit for piezoelectric crystal
Figure 9.52 - Thevenin equivalent of piezoelectric crystal
Figure 9.53 - Piezoelectric accelerometer frequency response
Figure 9.54 - Surface acoustic wave transponder device
Chapter 10 - Mechatronic system components outline
Figure 10.1 - Right-hand rule for magnetic force
Figure 10.2 - Solenoids
Figure 10.3 - Voice coil
Figure 10.4 - Photograph of a voice coil iron core and coil
Figure 10.5 - Classification of electric motors
Figure 10.6 - Motor construction and terminology
Figure 10.7 - Examples of commercial motors
Figure 10.8 - Electric motor field-current interaction
Figure 10.9 - Electric motor six-winding commutator
Figure 10.10 - Electric motor field-field interaction
Figure 10.11 - Motor torque-speed curve
Figure 10.12 - DC permanent magnet motor schematic and torque-speed curve
Figure 10.13 - DC shunt motor schematic and torque-speed curve
Figure 10.14 - DC series motor schematic and torque-speed curve
Figure 10.15 - DC compound motor schematic and torque-speed curve
Figure 10.16 - Motor armature equivalent circuit
Figure 10.17 - Permanent magnet DC motor characteristics
Figure 10.18 - Pulse width modulation of a DC motor
Figure 10.19 - PWM velocity feedback control
Figure 10.20 - PWM voltage and motor current
Figure 10.21 - Stepper motor step sequence
Design Example 10.1 - H-bridge drive for a DC motor (
part a
,
part b
,
part c
)
Threaded Design Example C.5 - DC motor position and speed controller - H-bridge and PWM speed control (
part a
,
part b
)
Figure 10.22 - Dynamic response of a single step
Figure 10.23 - Stepper motor torque-speed curves
Figure 10.24 - Standard unipolar stepper motor field coil schematic
Figure 10.25 - Example of a unipolar stepper motor
Figure 10.26 - Standard bipolar stepper motor field coil schematic
Figure 10.27 - Typical stepper motor rotor and stator configuration
Figure 10.28 - Actual stepper motor rotor
Figure 10.29 - Unipolar stepper motor full-step drive circuit
Figure 10.30 - Timing diagram for full-step unipolar stepper motor drive circuit
Threaded Design Example B.3 - Stepper motor position and speed controller - stepper motor driver (
part a
,
part b
)
Figure 10.31 - Typical stepper motor performance curves
Figure 10.32 - Typical servomotor performance curves
Figure 10.33 - Motor operating speed
Figure 10.34 - Hydraulic system components
Figure 10.35 - Gear pump
Figure 10.36 - Vane pump
Figure 10.37 - Swash plate piston pump
Figure 10.38 - Pressure regulator
Figure 10.39 - 4/3 valve schematic
Figure 10.40 - Double-acting hydraulic cylinder
Figure 10.41 - Check and poppet valves
Figure 10.42 - Spool valve
Figure 10.43 - Pilot-operated spool valve
Figure 10.44 - Single-acting and double-acting cylinders
Figure 10.45 - Example mechanisms driven by a hydraulic cylinder
Figure 10.46 - Pneumatic system components
Chapter 11 - Mechatronic system components outline
Figure 11.1 - Ladder logic symbols and basic functions
Figure 11.2 - Ladder logic motor control cycle example
Figure 11.3 - Armature-controlled DC motor
Figure 11.4 - Block diagram for the DC motor system (plant)
Figure 11.5 - Simulink model block diagram
Figure 11.6 - The angular velocity output for a step input voltage
Figure 11.7 - General feedback control system
Figure 11.8 - Simulink model of an example motor with a PID controller
Figure 11.9 - The effects of various proportional gains
Figure 11.10 - The effects of various derivative gains
Figure 11.11 - The effects of various integral gains
Figure 11.12 - Analog PID controller constructed from op amp circuits
Figure 11.13 - Project phases
Figure 11.14 - System overview
Figure 11.15 - MAX232 level converter
Figure 11.16 - Serial port
Figure 11.17 - Conditioning circuit diagram
Figure 11.18 - Conditioning circuit PCB layout
Figure 11.19 - Conditioning circuit photo
Figure 11.20 - PIC to Adept interface circuit
Figure 11.21 - A/D converter PIC flowchart
Figure 11.22 - Interface PIC flowchart
Figure 11.23 - Example of coin counter presentation mechanisms (
part a
,
part b
,
part c
)
Figure 11.24 - Sensor array and chute design
Figure 11.25 - TTL outputs corresponding to different coins
Figure 11.26 - Counter design 1 (
part a
,
part b
)
Figure 11.27 - Counter design 2 (
part a
,
part b
)
Figure 11.28 - Student-designed walking machines from Colorado State University
Figure 11.29 - Aluminum frame and telescoping pneumatic legs
Figure 11.30 - Flowchart for forward motion routine
Figure 11.31 - Pneumatic system
Figure 11.32 - Computer ports and I/O board
Figure A.1 - Histogram of experimental data
Figure A.2 - Distributions of data
Figure A.3 - Accuracy and precision
Figure C.1 - Axial and transverse deformation of a cylindrical bar
Figure C.2 - General state of planar stress and principal stresses
Figure C.3 - Mohr’s circle of plane stresses
