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Introduction to Mechatronics
and Measurement Systems
Third Edition
David G. Aldatore
Department of Mechanical Engineering
Colorado State University
Michael B. Histand
Department of Mechanical Engineering
Colorado State University
Me
Gravu
Boston Burr Ridge, IL Dubuque, IA Madison, Wl New York San Francisco St. Louis
Bangkok Bogota Caracas Kuala Lumpur Lisbon London Madrid Mexico City
Milan Montreal New Delhi Santiago Seoul Singapore Sydney Taipei Toronto
CONTENTS
Lists ix
Figures ix
Tables xv
Class Discussion Items
Examples xviii
Design Examples xix
Threaded Design Examples xx
2.9 Impedance Matching 45
2.10
Grounding and Electrical Interference
2.10.1 Electrical Safety 49
47
XVI
Chapter 3
Semiconductor Electronics 58
3.1 Introduction 59
3.2 Semiconductor Physics as the Basis for
Understanding Electronic Devices 59
3.3 Junction Diode 60
3.3.1 Zener Diode 65
3.3.2 Voltage Regulators 70
3.3.3 Optoelectronic Diodes 71
3.3.4 Analysis of Diode Circuits 73
3.4 Bipolar Junction Transistor 75
3.4.1 Bipolar Transistor Physics 75
3.4.2 Common Emitter Transistor Circuit 77
3.4.3 Bipolar Transistor Switch 79
3.4.4 Bipolar Transistor Packages 81
3.4.5 Darlington Transistor 82
3.4.6 Phototransistor and Optoisolator 82
3.5 Field-Effect Transistors 84
3.5.1 Behavior of Field-Effect Transistors 85
3.5.2 Symbols Representing Field-Effect
Transistors 87
3.5.3 Applications ofMOSFETs 88
Preface xxi
Chapter 1
Introduction
1
1.1
Mechatronics 1
1.2
Measurement Systems 4
1.3 Threaded Design Examples 5
Chapter 2
Electric Circuits
and Components 12
2.1
Introduction 13
2.2
Basic Electrical Elements 15
2.2.1 Resistor 15
2.2.2 Capacitor 20
2.2.3 Inductor 21
2.3 Kirchhoff s Laws 22
2.3.1 Series Resistance Circuit 24
2.3.2 Parallel Resistance Circuit 26
2.4 Voltage and Current Sources and Meters 29
2.5 Thevenin and Norton Equivalent Circuits 34
2.6 Alternating Current Circuit Analysis 36
2.7 Power in Electrical Circuits 42
2.8 Transformer 43
Chapter 4
System Response 98
4.1 System Response 99
4.2 Amplitude Linearity 100
4.3 Fourier Series Representation of Signals 101
4.4 Bandwidth and Frequency Response 105
vi
Contents
4.5 Phase Linearity 110
4.6
Distortion of Signals 111
4.7 Dynamic Characteristics of Systems 113
4.8 Zero-Order System 113
4.9 First-Order System 115
4.9.1 Experimental Testing of a First-Order
System 117
4.10
Second-Order System 118
4.10.1 Step Response of a Second-Order
System 122
4.10.2 Frequency Response of a System 124
4.11
System Modeling and Analogies 132
6.5 Boolean Algebra 189
6.6 Design of Logic Networks 191
6.6.1 Define the Problem in Words 191
6.6.2 Write Quasi-Logic Statements 192
6.6.3 Write the Boolean Expression 192
6.6.4 AND Realization 193
6.6.5 Draw the Circuit Diagram 193
6.7 Finding a Boolean Expression Given
a Truth Table 194
6.8 Sequential Logic 196
6.9 Flip-Flops 197
6.9.1 Triggering of Flip-Flops 198
6.9.2 Asynchronous Inputs 200
6.9.3 D Flip-Flop 201
6.9.4 JK Flip-Flop 202
6.10
Applications of Flip-Flops 204
6.10.1 Switch Debouncing 204
6.10.2 Data Register 206
6.10.3 Binary Counter and Frequency
Divider 206
6.10.4 Serial and Parallel Interfaces 206
6.11
TTL and CMOS Integrated Circuits 208
6.11.1 Using Manufacturer IC Data Sheets 210
6.11.2 Digital IC Output Configurations 212
6.11.3 Interfacing TTL and CMOS Devices 214
6.12
Special Purpose Digital Integrated
Circuits 217
6.12.1 Decade Counter 217
6.12.2 Schmitt Trigger 221
6.12.3 555 Timer 222
6.13
Integrated Circuit System Design 224
6.13.1 IEEE Standard Digital Symbols 228
Chapter 5
Analog Signal Processing Using
Operational Amplifiers 143
5.1
Introduction 144
5.2
Amplifiers 144
5.3
Operational Amplifiers 145
5.4
Ideal Model for the Operational Amplifier 146
5.5
Inverting Amplifier 149
5.6 Noninverting Amplifier 151
5.7 Summer 154
5.8 Difference Amplifier 154
5.9 Instrumentation Amplifier 157
5.10
Integrator 159
5.11
Differentiator 160
5.12
Sample and Hold Circuit 161
5.13
Comparator 162
5.14
The Real Op Amp 163
5.14.1 Important Parameters from Op Amp
Data Sheets 164
Chapter 6
Digital Circuits 180
6.1 Introduction 181
6.2 Digital Representations 182
6.3 Combinational Logic and Logic Classes 185
6.4 Timing Diagrams 188
Chapter 7
Microcontroller Programming
and Interfacing 238
7.1 Microprocessors and Microcomputers 239
7.2 Microcontrollers 241
7.3 The PIC 16F84 Microcontroller 244
7.4 Programming a PIC 248
Contents
vii
7.5 PicBasic Pro 254
7.5.1 PicBasic Pro Programming
Fundamentals 254
7.5.2 PicBasic Pro Programming Examples 262
7.6
Using Interrupts 273
7.7
Interfacing Common PIC Peripherals 277
7.7.1 Numeric Keypad 277
7.7.2 LCD Display 280
7.8
Interfacing to the PIC 285
7.
8.1 Digital Input to the PIC 287
7.8.2 Digital Output from the PIC 287
7.9
Method to Design a Microcontroller-Based
System 289
9.3.4 Force Measurement with Load Cells 367
9.4 Temperature Measurement 370
9.4.1 Liquid-in-Glass Thermometer 370
9.4.2 Bimetallic Strip 371
9.4.3 Electrical Resistance Thermometer 371
9.4.4 Thermocouple 372
9.5 Vibration and Acceleration
Measurement 379
9.5.1 Piezoelectric Accelerometer 384
9.6
Pressure and Flow Measurement 387
9.7
Semiconductor Sensors and
Microelectromechanical Devices 387
Chapter 8
Data Acquisition 317
Chapter 10
Actuators 392
10.1
Introduction 393
10.2
Electromagnetic Principles 393
10.3
Solenoids and Relays 394
10.4
Electric Motors 396
10.5
DC Motors 402
10.5.1 DC Motor Electrical Equations 405
10.5.2 Permanent Magnet DC Motor Dynamic
Equations 405
10.5.3 Electronic Control of a Permanent Magnet
DC Motor 407
10.6
Stepper Motors 413
10.6.1 Stepper Motor Drive Circuits 418
10.7
Selecting a Motor 422
10.8
Hydraulics 426
10.8.1 Hydraulic Valves 428
10.8.2 Hydraulic Actuators 431
10.9
Pneumatics 432
8.1 Introduction 318
8.2 Quantizing Theory 321
8.3 Analog-to-Digital Conversion 323
8.3.1 Introduction 323
8.3.2 Analog-to-Digital Converters 327
8.4 Digital-to-Analog Conversion 329
8.5 Virtual Instrumentation, Data Acquisition,
and Control 334
Chapter 9
Sensors
338
9.1
Introduction 339
9.2 Position and Speed Measurement 339
9.2.1 Proximity Sensors and Switches 340
9.2.2 Potentiometer 342
9.2.3 Linear Variable Differential
Transformer 342
9.2.4 Digital Optical Encoder 346-
9.3 Stress and Strain Measurement 354
9.3.1 Electrical Resistance Strain Gage 354
9.3.2 Measuring Resistance Changes
with a Wheatstone Bridge 358
9.3.3 Measuring Different States of Stress
with Strain Gages 362
Chapter 11
Mechatronic Systems—Control
Architectures and Case
Studies 436
11.1
Introduction 437
11.2
Control Architectures 437
11.2.1 Analog Circuits 43 7
viii
Contents
11.2.2 Digital Circuits 438
11.2.3 Programmable Logic Controller 438
11.2.4 Microcontrollers and DSPs 438
11.2.5 Single-Board Computer 439
11.2.6 Personal Computer 439
11.3 Introduction
to
Control
Theory
439
11.3.1 Armature-Controlled DC Motor 440
11.3.2 Open-Loop Response 442
11.3.3 Feedback Control of a DC Motor 443
11.3.4 Controller Empirical Design 446
11.3.5 Controller Implementation 448
11.3.6 Conclusion 449
11.4
Case Study 1—Myoelectrically Controlled
Robotic Arm 449
11.5 Case Study 2—Mechatronic Design of a Coin
Counter 462
11.6
Case Study 3—Mechatronic Design of a
Robotic Walking Machine 471
11.7
List of Various Mechatronic Systems 477
A.2 Significant Figures 484
A.3 Statistics 486
A.4 Error Analysis 489
A.4.1 Rules for Estimating Errors 489
Appendix B
Physical Principles
492
Appendix
C
Mechanics of Materials
497
C.I Stress and Strain Relations 497
Index 501
Appendix
A
Measurement Fundamentals
479
A.I
Systems of Units
479
A. 1.1 Three Classes of SI Units 481
A. 1.2 Conversion Factors 483
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