Introduction to Mechatronics : An Integrated Approach

This textbook presents mechatronics through an integrated approach covering instrumentation, circuits and electronics, computer-based data acquisition and analysis, analog and digital signal processing, sensors, actuators, digital logic circuits, microcontroller programming and interfacing. The use of computer programming is emphasized throughout the text, and includes Matlab for system modeling, simulation, and analysis; LabVIEW for data acquisition and signal processing; and C++ for Arduino-based microcontroller programming and interfacing. Prof. Samanta provides numerous examples along with appropriate program codes, for simulation and analysis, that are discussed in detail to illustrate the concepts covered in each section. The book also includes the illustration of theoretical concepts through the virtual simulation platform Tinkercad to provide students virtual lab experience. Preface Acknowledgments Contents About the Author Chapter 1: Introduction 1.1 Mechatronics 1.2 An Integrated Approach 1.3 Organization of Book Chapters 1.4 Measurement Fundamentals 1.4.1 Basic Statistics 1.4.2 Excel and Matlab Commands for Basic Statistics 1.4.3 Example Problems: Basic Statistics 1.4.4 Uncertainty Analysis 1.4.4.1 Maximum Possible Error 1.4.4.2 Most Probable Error 1.4.5 Estimation of Allowable Uncertainty of Individual Measured Variables 1.4.5.1 Based on Maximum Possible Uncertainty of the Computed Parameter 1.4.5.2 Based on the Most Probable Uncertainty of the Computed Parameter 1.4.6 Example Problems: Uncertainty Analysis 1.4.7 Computer-Aided Analysis of Basic Statistics and Uncertainty 1.4.8 Experiment on Basic Statistics Exercises Bibliography Chapter 2: Basic Electrical Circuit Elements and Circuit Analysis 2.1 Introduction 2.2 Basic Electrical Circuit Elements 2.2.1 Resistor 2.2.2 Capacitor 2.2.3 Inductor 2.3 Basic Electrical Circuit Elements in Series and in Parallel 2.3.1 Resistors in Series and in Parallel 2.3.2 Capacitors in Series and in Parallel 2.3.3 Inductors in Series and in Parallel 2.4 DC Circuit Analysis 2.4.1 Ohm ́s Law 2.4.2 Kirchhoff ́s Current Law 2.4.3 Kirchhoff ́s Voltage Law 2.5 Ideal Voltage and Current Sources and Measuring Devices 2.6 Equivalent Circuits 2.6.1 Thevenin Equivalent Circuit 2.6.2 Norton Equivalent Circuit 2.7 AC Circuit Analysis 2.7.1 AC Signal and Phasor Representation 2.7.2 Impedance 2.8 Power in Electrical Circuits 2.9 Transformer 2.10 Impedance Matching 2.11 Computer-Aided Analysis of Basic Circuits 2.11.1 Analysis Using Matlab 2.11.2 Simulation Using Tinkercad Exercises Bibliography Chapter 3: Basic Electronics 3.1 Introduction 3.2 Introduction to Junction Diodes 3.2.1 Ideal Diode Model 3.2.2 Nonlinear Current-Voltage Characteristics of Junction Diodes 3.2.3 Zener Diode and Voltage Regulation 3.2.4 Analysis of Diode Circuits 3.2.5 Rectifier Circuits 3.3 Bipolar Junction Transistors 3.3.1 Example Problem of npn BJT 3.3.2 Example Problem of pnp BJT 3.4 Metal Oxide Semiconductor Field Effect Transistors 3.4.1 NMOS Example Problem 3.4.2 PMOS Example Problem 3.5 Computer-Aided Analysis of Basic Electronic Circuits 3.5.1 Analysis Using Matlab 3.5.2 Simulation Using Tinkercad Exercises Bibliography Chapter 4: Dynamic System Characteristics 4.1 Introduction 4.2 First-Order Systems 4.2.1 Time Domain Analysis 4.2.2 Frequency Domain Analysis 4.2.3 Experimental Determination of System Parameters 4.3 Second-Order Systems 4.3.1 Time Domain Analysis 4.3.2 Frequency Domain Analysis 4.3.3 Experimental Determination of System Parameters 4.4 Fourier Series Representation of Periodic Signals 4.4.1 Fourier Series 4.4.2 Fourier Transform 4.4.3 Examples of Fourier Transform of Signals Using Matlab 4.5 Computer-Aided Analysis and Simulation of Dynamic System Responses 4.5.1 Analysis Using Matlab 4.5.2 Simulation Using Tinkercad 4.6 Experimental Validation Exercises Bibliography Chapter 5: Analog Signal Processing and Operational Amplifiers 5.1 Introduction 5.2 Operational Amplifiers 5.3 Ideal Operational Amplifier Model 5.4 Inverting Amplifier 5.5 Noninverting Amplifier 5.6 Summing Amplifier 5.7 Difference Amplifier 5.8 Integrator 5.9 Differentiator 5.10 Voltage Follower 5.11 Comparator 5.12 Sample and Hold 5.13 Instrumentation Amplifier 5.14 The Real Operational Amplifier 5.15 Computer-Aided Analysis and Simulation of Operational Amplifier Circuits 5.15.1 Analysis Using Matlab 5.15.2 Simulation Using Tinkercad 5.16 Summary of Operational Amplifier Configurations 5.17 Simulation and Experimental Validation 5.17.1 Basic Operational Amplifier Configurations 5.17.2 Integrator, Differentiator, and Modified Versions Exercises Bibliography Chapter 6: Data Acquisition and Digital Signal Processing 6.1 Introduction 6.2 Analog and Discrete Signals 6.3 Number Systems 6.3.1 Decimal Number System 6.3.2 Binary Number System 6.3.3 Octal and Hexadecimal Number Systems 6.3.4 Decimal to Binary Conversion 6.3.5 Binary to Octal Conversion 6.3.6 Binary to Hexadecimal Conversion 6.4 Analog-to-Digital Conversion 6.4.1 Successive Approximation Register (SAR) ADC 6.4.2 Flash ADC 6.4.3 ADC Relations 6.5 Digital-to-Analog Conversion 6.5.1 Digital-to-Analog Converters 6.5.2 DAC Relation 6.6 Virtual Instruments, Data Acquisition, and Digital Signal Processing Using LabVIEW 6.6.1 Virtual Instruments 6.6.2 Signal Simulation and Analysis 6.6.3 Data Acquisition and Digital Signal Processing 6.7 LabVIEW Experimentation Exercises Bibliography Chapter 7: Sensors 7.1 Introduction 7.2 Position, Displacement, and Velocity Measurement 7.2.1 Proximity Sensors 7.2.2 Potentiometers 7.2.3 Ultrasonic Sensors 7.2.4 Tachogenerators 7.3 Stress and Strain Measurement Using Strain Gages 7.3.1 Electrical Resistance Strain Gage 7.3.2 Wheatstone Bridge 7.3.3 Member with Axial Load 7.3.4 Member with Transverse Load 7.4 Vibration and Acceleration Measurement 7.4.1 Vibration Pickups for Displacement Measurement 7.4.2 Accelerometers 7.4.3 Piezoelectric Accelerometers 7.4.4 Charge Amplifiers 7.4.5 A Piezoelectric Accelerometer with a Charge Amplifier 7.5 Temperature Measurement 7.5.1 Resistance Temperature Detectors 7.5.2 Thermistors 7.5.3 Thermocouples 7.5.3.1 Thermopile in Series 7.5.3.2 Thermopile in Parallel 7.6 Computer-Aided Analysis and Simulation of Wheatstone Bridge 7.6.1 Analysis Using Matlab 7.6.2 Simulation Using Tinkercad 7.7 Experimental Validation 7.7.1 Data Acquisition and Analysis Using LabVIEW and a Thermocouple 7.7.2 Measurement Using a Strain Gage Under Static Condition 7.7.3 Data Acquisition and Analysis Using LabVIEW and a Strain Gage Under Dynamic Condition Exercises Bibliography Chapter 8: Digital Circuits 8.1 Introduction 8.2 Combinational Logic Devices 8.3 Boolean Algebra 8.4 De Morgan ́s Laws 8.5 Truth Table and Simplified Boolean Expression from a Given Boolean Expression 8.6 Simplified Boolean Expression and Digital Circuit from a Given Truth Table 8.7 Design of Digital Logic Networks 8.7.1 Define the Problem 8.7.2 Write the Quasi-Logic Statement 8.7.3 Write the Boolean Expression 8.7.4 Simplify the Boolean Expression 8.7.5 Construct the Digital Logic Circuit 8.7.6 Convert to an all-NAND Circuit 8.7.7 Convert to an All-NOR Circuit 8.8 Karnaugh Map (K-Map) for Simplification of Boolean Expressions 8.9 Sequential Logic 8.9.1 SR Flip-Flop 8.9.2 Edge-Triggered SR Flip-Flop 8.9.3 D Flip-Flop 8.9.4 JK Flip-Flop 8.9.5 T Flip-Flop 8.10 Computer-Aided Analysis and Simulation of Digital Logic Circuits 8.10.1 Analysis Using Excel 8.10.2 Simulation Using Tinkercad Exercises Bibliography Chapter 9: Actuators 9.1 Introduction 9.2 Types of Actuators 9.3 Electromechanical Actuators 9.4 DC Motor Characteristics 9.4.1 Dynamic Model of an Armature Controlled DC Motor 9.4.2 Steady-State Characteristics 9.5 Selection of DC Motors 9.6 Electronic Control of DC Motor Speed and Direction 9.6.1 Pulse Width Modulation (PWM) 9.6.2 H-Bridge 9.6.3 L293D Motor Driver IC 9.6.4 L298N Motor Driver Module 9.6.5 DC Motor Speed and Direction Control Using an Arduino 9.7 Stepper Motors 9.7.1 Stepper Motor Characteristics 9.7.2 Driving a Bipolar Stepper Motor Using a Dual H-Bridge and an Arduino 9.8 Computer-Aided Analysis and Simulation of DC Motors 9.8.1 Analysis Using Matlab 9.8.2 Simulation Using Tinkercad 9.9 Laboratory Experiments 9.9.1 Driving a DC Motor Using an H-Bridge (L293N) and an Arduino 9.9.2 Driving a Bipolar Stepper Motor Using a Dual H-Bridge and an Arduino Exercises References Chapter 10: Microcontroller Programming and Interfacing 10.1 Introduction 10.2 Arduino Microcontroller Development Boards 10.3 Arduino Programming Environment 10.4 Arduino Programming Language 10.4.1 Functions 10.4.2 Variables 10.4.3 Structure 10.5 An Example Code 10.6 Virtual Simulation on Tinkercad 10.7 Simulation of Example Codes on Tinkercad 10.7.1 Simulation of digitalRead and digitalWrite on Tinkercad 10.7.2 Simulation of analogRead and analogWrite on Tinkercad 10.7.3 Simulation of Data Type, Time, and Serial Communication on Tinkercad 10.7.4 Simulation of Compound Operators on Tinkercad 10.8 Arduino Programming and Interfacing Examples 10.8.1 Simulation of 3-Bit Binary Patterns (000-111) Using an Arduino and Three LEDs 10.8.2 Simulation of Setting LEDs On/Off Based on the Status of Push Buttons 10.8.3 Simulation of a Digital Logic Circuit for a Multiplexer 10.8.4 Simulation of Ultrasonic Sensor for Distance Measurement with an Arduino 10.9 Simulation on Tinkercad and Physical Validation in Laboratory 10.9.1 Simulation of 4-Bit Binary Patterns (0000-1111) Using an Arduino and 4 LEDs 10.9.2 Simulation of Setting Four LEDs On/Off Based on the Status of Two Push Buttons 10.9.3 Simulation of a Digital Logic Circuit for Implementing 10.9.4 Simulation of Ultrasonic Sensor for Distance Measurement with Arduino 10.9.5 Simulation of a Home Security System Using Digital Logic Gates and an Arduino on Tinkercad 10.9.6 Simulation of a Car Safety System Using Digital Logic Gates and Arduino on Tinkercad Bibliography Chapter 11: Basic Control Systems 11.1 Introduction 11.2 Control System Structure 11.2.1 Mathematical Modeling 11.2.2 Open and Closed Loop System Characteristics 11.3 Stability Analysis of Control Systems 11.3.1 Closed Loop Poles on S-Plane 11.3.2 Routh-Hurwitz Criterion 11.3.3 Root Locus Technique 11.3.4 Bode Plot 11.4 Control System Specifications 11.4.1 Design Specifications 11.4.2 Types of Controllers 11.5 Controller Design Method 11.5.1 PID Controller Design Using Time Domain Specifications 11.5.2 PID Controller Design Using Frequency Domain Specifications 11.5.3 Experimental Method: Ziegler-Nichols Method 11.6 Controller Implementation Exercises Bibliography Chapter 12: Mechatronic Systems 12.1 Introduction 12.2 Robotics Project Using Lego Mindstorms EV3 12.3 EV3 Intelligent Brick 12.4 EV3 Sensors 12.5 EV3 Motors 12.6 EV3 Sensor Calibration 12.6.1 Light Sensor Calibration 12.6.2 Touch Sensor Calibration 12.6.3 Ultrasonic Sensor Calibration 12.6.4 Gyro Sensor Calibration 12.7 EV3 Motor Speed Calibration 12.8 EV3 Programming 12.8.1 Line Following 12.8.2 Obstacle Avoidance 12.8.3 Line Following While Avoiding Obstacle 12.8.4 Following a Moving Target 12.9 Project Ideas Bibliography Appendices Appendix A (Tables A.1, A.2, A.3, A.4 and A.5) Appendix B (Table B.1) Bibliography Index