Billingsley - Essentials of Mechatronics (Wiley, 2006).pdf

(3282 KB) Pobierz
Frontmatter
Essentials of
Mechatronics
Essentials of
Mechatronics
John Billingsley
University of Southern Queensland
Queensland, Australia
A John Wiley & Sons, Inc., Publication
426125051.001.png
Copyright © 2006 by John Wiley & Sons, Inc. All rights reserved.
Published by John Wiley & Sons, Inc., Hoboken, New Jersey.
Published simultaneously in Canada.
No part of this publication may be reproduced, stored in a retrieval system, or transmitted in
any form or by any means, electronic, mechanical, photocopying, recording, scanning, or
otherwise, except as permitted under Section 107 or 108 of the 1976 United States Copyright
Act, without either the prior written permission of the Publisher, or authorization through
payment of the appropriate per-copy fee to the Copyright Clearance Center, Inc., 222
Rosewood Drive, Danvers, MA 01923, (978) 750-8400, fax (978) 750-4470, or on the web at
www.copyright.com. Requests to the Publisher for permission should be addressed to the
Permissions Department, John Wiley & Sons, Inc., 111 River Street, Hoboken, NJ 07030,
(201) 748-6011, fax (201) 748-6008, or online at http://www.wiley.com/go/permission.
Limit of Liability/Disclaimer of Warranty: While the publisher and author have used their
best efforts in preparing this book, they make no representations or warranties with respect
to the accuracy or completeness of the contents of this book and specifi cally disclaim any
implied warranties of merchantability or fi tness for a particular purpose. No warranty may be
created or extended by sales representatives or written sales materials. The advice and
strategies contained herein may not be suitable for your situation. You should consult with a
professional where appropriate. Neither the publisher nor author shall be liable for any loss
of profi t or any other commercial damages, including but not limited to special, incidental,
consequential, or other damages.
For general information on our other products and services or for technical support, please
contact our Customer Care Department within the United States at (800) 762-2974, outside
the United States at (317) 572-3993 or fax (317) 572-4002.
Wiley also publishes its books in a variety of electronic formats. Some content that appears
in print may not be available in electronic formats. For more information about Wiley
products, visit our web site at www.wiley.com.
Library of Congress Cataloging-in-Publication Data:
Billingsley, J. (John)
Essentials of mechatronics / by John Billingsley.
p. cm.
Includes bibliographical references and index.
ISBN-13 978- 0 - 471-72341-7 (cloth)
ISBN-10 0-471-72341-X (cloth)
1. Mechatronics. I. Title.
TJ163.12.B552006
621–dc22
2005032762
Printed in the United States of America.
10 9 8 7 6 5 4 3 2 1
Contents
Preface
ix
Acknowledgments
xi
1. Introduction
1
1.1 A Personal View / 1
1.2 What Is and Is Not Mechatronics? / 6
2. The Bare Essentials
9
2.1 Actuators / 9
2.2 Sensors / 16
2.3 Sensors for Vision / 22
2.4 The Computer / 25
2.5 Interface Electronics for Output / 27
2.6 Interface Electronics for Input / 32
2.7 Pragmatic Control / 36
2.8 Robotics and Kinematics / 41
3. Gaining Experience
43
3.1 Coming to Grips with QBasic / 45
3.2 The Simplest Mobile Robot / 49
3.3 Ball and Beam / 56
v
vi CONTENTS
3.4 “Professional” Position Control / 64
3.5 An Inverted Pendulum / 80
4. Introduction to the Next Level
91
4.1 The www.EssMech.com Website / 92
5. Electronic Design
95
5.1 The Rudiments of Circuit Theory / 95
5.2 The Operational Amplifi er / 99
5.3 Filters for Sensors / 103
5.4 Logic and Latches / 113
6. Essential Control Theory
117
6.1 State Variables / 117
6.2 Simulation / 120
6.3 Solving the First-Order Equation / 121
6.4 Second-Order Problems / 123
6.5 Modeling Position Control / 125
6.6 Matrix State Equations / 127
6.7 Analog Simulation / 128
6.8 More Formal Computer Simulation / 130
7. Vectors, Matrices, and Tensors
131
7.1 Meet the Matrix / 131
7.2 More on Vectors / 132
7.3 Matrix Multiplication / 134
7.4 Transposition of Matrices / 135
7.5 The Unit Matrix / 136
7.6 Coordinate Transformations / 136
7.7 Matrices, Notation, and Computing / 138
7.8 Eigenvectors / 140
8. Mathematics for Control
143
8.1 Differential Equations / 143
8.2 The Laplace Transform / 146
8.3 Difference Equations / 150
8.4 The z Transform / 154
8.5 Convolution and Correlation / 157

Plik z chomika:

Inne pliki z tego folderu:

Inne foldery tego chomika:

Zgłoś jeśli naruszono regulamin