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Confirming Pages www.net 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 www.net the United States. This book is printed on acid-free paper. 1 2 3 4 5 6 7 8 9 0 DOC/DOC 1 0 9 8 7 6 5 4 3 2 1 ISBN 978-0-07-338023-0 MHID 0-07-338023-7 Vice President & Editor-in-Chief: Marty Lange Vice President EDP/Central Publishing Services: Kimberly Meriwether David Publisher: Raghothaman Srinivasan Executive Editor: Bill Stenquist Development Editor: Lorraine Buczek Marketing Manager: Curt Reynolds Project Manager: Melissa M.
Leick Design Coordinator: Margarite Reynolds Cover Designer: Studio Montage, St. Louis, Missouri Cover Images: Burke/Triolo/Brand X Pictures/Jupiterimages; © Chuck Eckert/Alamy; Royalty-Free/CORBIS; Imagestate Media (John Foxx); Chad Baker/Getty Images (clockwise, left to right) Buyer: Nicole Baumgartner Media Project Manager: Balaji Sundararaman Compositor: Laserwords Private Limited Typeface: 10/12 Times Roman Printer: R. Donnelley All credits appearing on page or at the end of the book are considered to be an extension of the copyright page. Library of Congress Cataloging-in-Publication Data Alciatore, David G.
Introduction to mechatronics and measurement systems / David G.com alc80237_fm_i-xviii.indd ii 21/01/11 4:25 PM Rev. Confirming Pages www.net C O N TEN T S Lists vii 2.9 Impedance Matching 47 Class Discussion Items vii 2.1 Capacitor Information 50 Examples ix 2.2 Breadboad and Prototyping Advice 51 Design Examples x 2.3 Voltage and Current Measurement 54 Threaded Design Examples xi www.5 The Oscilloscope 58 Preface xiii 2.6 Grounding and Electrical Interference 61 2.7 Electrical Safety 63 Chapter 1 Introduction 1 Chapter 3 1.1 Mechatronics 1 Semiconductor Electronics 73 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 3.1 Zener Diode 81 and Components 11 3.4 Analysis of Diode Circuits 88 2.2 Basic Electrical Elements 14 3.4 Bipolar Junction Transistor 90 2.1 Bipolar Transistor Physics 90 2.2 Common Emitter Transistor Circuit 92 2.3 Bipolar Transistor Switch 97 2.4 Bipolar Transistor Packages 99 2.1 Series Resistance Circuit 24 3.2 Parallel Resistance Circuit 26 3.6 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 3.1 Behavior of Field-Effect Transistors 103 2.6 Alternating Current Circuit Analysis 37 3.2 Symbols Representing Field-Effect 2.7 Power in Electrical Circuits 44 Transistors 106 2.3 Applications of MOSFETs 107 iii alc80237_fm_i-xviii.indd iii 19/01/11 6:52 PM Rev. Confirming Pages www.net iv Contents Chapter 4 Chapter 6 System Response 117 Digital Circuits 197 4.3 Fourier Series Representation of Signals 120 6.3 Combinational Logic and Logic 4.4 Bandwidth and Frequency Response 124 Classes 202 4.6 Distortion of Signals 130 6.7 Dynamic Characteristics of Systems 131 6.6 Design of Logic Networks 208 4.8 Zero-Order System 132 6.1 Define the Problem in Words 208 www.9 First-Order System 134 6.2 Write Quasi-Logic Statements 209 4.1 Experimental Testing of a First-Order 6.3 Write the Boolean Expression 209 System 136 6.10 Second-Order System 137 6.5 Draw the Circuit Diagram 210 4.1 Step Response of a Second-Order 6.7 Finding a Boolean Expression Given a System 141 Truth Table 211 4.2 Frequency Response of a System 143 6.11 System Modeling and Analogies 150 6.1 Triggering of Flip-Flops 216 Chapter 5 6.3 D Flip-Flop 219 Analog Signal Processing Using Operational Amplifiers 161 6.4 JK Flip-Flop 219 6.10 Applications of Flip-Flops 222 5.3 Binary Counter and Frequency 5.4 Ideal Model for the Operational Divider 224 Amplifier 164 6.4 Serial and Parallel Interfaces 224 5.11 TTL and CMOS Integrated Circuits 226 5.1 Using Manufacturer IC Data 5.2 Digital IC Output Configurations 230 5.3 Interfacing TTL and CMOS Devices 232 5.12 Special Purpose Digital Integrated 5.12 Sample and Hold Circuit 180 6.14 The Real Op Amp 182 6.1 Important Parameters from Op Amp Data 6.13 Integrated Circuit System Design 245 Sheets 183 6.1 IEEE Standard Digital Symbols 249 alc80237_fm_i-xviii.indd iv 19/01/11 6:52 PM Rev. Confirming Pages www.net Contents v Chapter 7 8.2 The USB 6009 Data Acquisition Card 367 Microcontroller Programming 8.3 Creating a VI and Sampling Music 369 and Interfacing 258 7.1 Microprocessors and Microcomputers 259 Chapter 9 7.3 The PIC16F84 Microcontroller 264 9.2 Position and Speed Measurement 376 7.1 Proximity Sensors and Switches 377 7.1 PicBasic Pro Programming 9.3 Linear Variable Differential www.2 PicBasic Pro Programming Examples 282 Transformer 380 7.4 Digital Optical Encoder 383 7.7 Interfacing Common PIC Peripherals 298 9.3 Stress and Strain Measurement 391 7.1 Electrical Resistance Strain Gage 392 7.2 Measuring Resistance Changes with a 7.8 Interfacing to the PIC 306 Wheatstone Bridge 396 7.1 Digital Input to the PIC 306 9.3 Measuring Different States of Stress with 7.2 Digital Output from the PIC 308 Strain Gages 400 7.9 Method to Design a Microcontroller-Based 9.4 Force Measurement with Load Cells 405 System 309 9.1 Liquid-in-Glass Thermometer 408 7.1 PIC Project Debugging Procedure 336 9.2 Power Supply Options for PIC Projects 337 9.3 Electrical Resistance Thermometer 408 7.4 Other Considerations for Project 9.5 Vibration and Acceleration Prototyping and Design 342 Measurement 414 9.6 Pressure and Flow Measurement 425 Chapter 8 9.7 Semiconductor Sensors and Data Acquisition 346 Microelectromechanical Devices 425 8.2 Quantizing Theory 351 Chapter 10 8.3 Analog-to-Digital Conversion 352 Actuators 431 8.2 Analog-to-Digital Converters 356 10.4 Digital-to-Analog Conversion 359 10.5 Virtual Instrumentation, Data Acquisition, 10.3 Solenoids and Relays 433 and Control 363 10.1 Introduction to LabVIEW Programming 365 10.1 DC Motor Electrical Equations 444 alc80237_fm_i-xviii.indd v 19/01/11 6:52 PM Rev.
Confirming Pages www.net vi Contents 10.2 Permanent Magnet DC Motor Dynamic 11.4 Case Study 1—Myoelectrically Controlled Equations 445 Robotic Arm 494 10.3 Electronic Control of a Permanent Magnet 11.5 Case Study 2—Mechatronic Design of a Coin DC Motor 447 Counter 507 10.6 Case Study 3—Mechatronic Design of a 10.1 Stepper Motor Drive Circuits 460 Robotic Walking Machine 516 10.7 List of Various Mechatronic Systems 521 10.1 Hydraulic Valves 470 Appendix A 10.9 Pneumatics 474 Measurement Fundamentals 523 www.1 Systems of Units 523 A.1 Three Classes of SI Units 525 Chapter 11 A.2 Conversion Factors 527 Mechatronic Systems—Control A.2 Significant Figures 528 Architectures and Case A.1 Rules for Estimating Errors 534 11.2 Digital Circuits 480 Appendix B 11.3 Programmable Logic Controller 480 Physical Principles 536 11.4 Microcontrollers and DSPs 482 11.5 Single-Board Computer 483 Appendix C 11.6 Personal Computer 483 Mechanics of Materials 541 11.3 Introduction to Control Theory 483 11.1 Armature-Controlled DC Motor 484 C.1 Stress and Strain Relations 541 11.2 Open-Loop Response 486 11.3 Feedback Control of a DC Motor 487 Index 545 11.4 Controller Empirical Design 491 11.6 Conclusion 493 alc80237_fm_i-xviii.indd vi 19/01/11 6:52 PM Rev. Confirming Pages www.net CLA SS D I SC U SSI O N I TEM S 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 www.4 Transmission Line Losses 45 4.8 Suspension Design Results 150 2.9 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 5.3 Example of Positive Feedback 171 2.12 Electric Drill Bathtub Experience 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 3.1 Real Silicon Diode in a Half-Wave 5.8 Bidirectional EMG Controller 191 Rectifier 80 6.4 Effects of Load on Voltage Regulator Design 83 6.4 Equivalence of Sum of Products and 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 6.7 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 4.10 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 4.13 Up-Down Counters 239 vii alc80237_fm_i-xviii.indd vii 19/01/11 6:52 PM Rev. Confirming Pages www.net 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 7.12 Sampling Rate Fixator Strain Gages 407 7.13 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, www.net 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 7.4 Dissection of Radio Shack Motor 441 7.7 How Does Pot Work? 289 10.5 Stepper Motor Logic 461 7.7 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 11.2 Sampling a Beat Signal 350 11.2 Coin Counter Circuits 511 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 8.5 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 alc80237_fm_i-xviii.indd viii 19/01/11 6:52 PM Rev. Confirming Pages www.net EX A M PLE S 1.1 Mechatronic System—Copy Machine 3 7.1 Assembly Language Instruction Details 270 1.2 Measurement System—Digital 7.2 Assembly Language Programming Thermometer 5 Example 271 7.3 A PicBasic Pro Boolean Expression 279 2.1 Resistance of a Wire 16 7.4 PicBasic Pro Alternative to the Assembly www.2 Resistance Color Codes 18 Language Program in Example 7.3 Kirchhoff’s Voltage Law 23 7.5 PicBasic Pro Program for Security System 2.4 Circuit Analysis 28 Example 285 2.5 Input and Output Impedance 34 7.6 Graphically Displaying the Value of a 2.6 AC Signal Parameters 38 Potentiometer 287 2.7 AC Circuit Analysis 42 8.1 Sampling Theorem and Aliasing 349 3.1 Half-Wave Rectifier Circuit Assuming an 8.2 Aperture Time 355 Ideal Diode 79 3.2 Zener Regulation Performance 83 9.1 Strain Gage Resistance Changes 395 3.3 Analysis of Circuit with More Than 9.2 Thermocouple Configuration with One Diode 88 Nonstandard Reference 413 3.4 Guaranteeing That a Transistor Is in A.1 Unit Prefixes 526 Saturation 94 A.1 Bandwidth of an Electrical Network 127 A.4 Addition and Significant Figures 529 5.1 Sizing Resistors in Op Amp Circuits 188 A.5 Subtraction and Significant Figures 529 A.6 Multiplication and Division and Significant 6.1 Binary Arithmetic 200 Figures 530 6.3 Simplifying a Boolean Expression 207 6.4 Sum of Products and Product of Sums 212 6.