Jack H.
Table of contents :
1.1 BASIC TERMINOLOGY……Page 20
1.4 PRACTICE PROBLEMS……Page 22
2.1 INTRODUCTION……Page 23
2.2 MODELING……Page 25
2.2.2 Mass and Inertia……Page 26
2.2.3 Gravity and Other Fields……Page 30
2.2.4 Springs……Page 32
2.2.5 Damping and Drag……Page 40
2.2.6 Cables And Pulleys……Page 43
2.2.7 Friction……Page 45
2.3 SYSTEM EXAMPLES……Page 47
2.4 OTHER TOPICS……Page 57
2.6 PRACTICE PROBLEMS……Page 58
2.7 PRACTICE PROBLEM SOLUTIONS……Page 63
2.8 ASSIGNMENT PROBLEMS……Page 67
3.1 INTRODUCTION……Page 68
3.2 EXPLICIT SOLUTIONS……Page 69
3.3 RESPONSES……Page 83
3.3.1 First-order……Page 84
3.3.2 Second-order……Page 90
3.3.3 Other Responses……Page 95
3.4 RESPONSE ANALYSIS……Page 98
3.5 NON-LINEAR SYSTEMS……Page 100
3.5.1 Non-Linear Differential Equations……Page 101
3.5.2 Non-Linear Equation Terms……Page 105
3.5.3 Changing Systems……Page 108
3.6 CASE STUDY……Page 114
3.8 PRACTICE PROBLEMS……Page 118
3.9 PRACTICE PROBLEM SOLUTIONS……Page 123
3.10 ASSIGNMENT PROBLEMS……Page 128
4.2 THE GENERAL METHOD……Page 129
4.2.1 State Variable Form……Page 130
4.3.1 Numerical Integration With Tools……Page 138
4.3.2 Numerical Integration……Page 143
4.3.3 Taylor Series……Page 149
4.3.4 Runge-Kutta Integration……Page 151
4.4 SYSTEM RESPONSE……Page 157
4.4.1 Steady-State Response……Page 158
4.5 DIFFERENTIATION AND INTEGRATION OF EXPERIMENTAL DATA……Page 159
4.6.1 Switching Functions……Page 161
4.6.2 Interpolating Tabular Data……Page 164
4.6.3 Modeling Functions with Splines……Page 165
4.7 CASE STUDY……Page 167
4.8 SUMMARY……Page 174
4.9 PRACTICE PROBLEMS……Page 175
4.10 PRACTICE PROBLEM SOLUTIONS……Page 178
4.11 ASSIGNMENT PROBLEMS……Page 188
5.1 INTRODUCTION……Page 191
5.2 MODELING……Page 192
5.2.1 Inertia……Page 193
5.2.2 Springs……Page 197
5.2.3 Damping……Page 202
5.2.4 Levers……Page 204
5.2.5 Gears and Belts……Page 205
5.2.6 Friction……Page 209
5.2.7 Permanent Magnet Electric Motors……Page 212
5.4 DESIGN CASE……Page 213
5.6 PRACTICE PROBLEMS……Page 218
5.7 PRACTICE PROBLEM SOLUTIONS……Page 225
5.8 ASSIGNMENT PROBLEMS……Page 234
6.2 THE DIFFERENTIAL OPERATOR……Page 238
6.3 INPUT-OUTPUT EQUATIONS……Page 241
6.3.1 Converting Input-Output Equations to State Equations……Page 243
6.3.2 Integrating Input-Output Equations……Page 246
6.4 DESIGN CASE……Page 248
6.6 PRACTICE PROBLEMS……Page 257
6.7 PRACTICE PROBLEM SOLUTIONS……Page 259
6.8 ASSGINMENT PROBLEMS……Page 263
6.9 REFERENCES……Page 264
7.2 MODELING……Page 265
7.2.1 Resistors……Page 266
7.2.2 Voltage and Current Sources……Page 268
7.2.3 Capacitors……Page 272
7.2.4 Inductors……Page 274
7.2.5 Op-Amps……Page 275
7.3 IMPEDANCE……Page 280
7.4 EXAMPLE SYSTEMS……Page 282
7.5.1 Permanent Magnet DC Motors……Page 290
7.5.2 Induction Motors……Page 292
7.5.3 Brushless Servo Motors……Page 293
7.6 FILTERS……Page 296
7.8 SUMMARY……Page 297
7.9 PRACTICE PROBLEMS……Page 298
7.10 PRACTICE PROBLEM SOLUTIONS……Page 302
7.11 ASSIGNMENT PROBLEMS……Page 307
8.2 TRANSFER FUNCTIONS……Page 310
8.3 CONTROL SYSTEMS……Page 312
8.3.1 PID Control Systems……Page 314
8.3.2 Manipulating Block Diagrams……Page 316
8.3.3 A Motor Control System Example……Page 321
8.3.4 System Error……Page 326
8.3.6 Feedforward Controllers……Page 330
8.3.7 State Equation Based Systems……Page 331
8.5 PRACTICE PROBLEMS……Page 333
8.6 PRACTICE PROBLEM SOLUTIONS……Page 340
8.7 ASSIGNMENT PROBLEMS……Page 346
9.2 PHASORS FOR STEADY-STATE ANALYSIS……Page 350
9.3 VIBRATIONS……Page 357
9.5 PRACTICE PROBLEMS……Page 359
9.6 PRACTICE PROBLEM SOLUTIONS……Page 361
9.7 ASSIGNMENT PROBLEMS……Page 363
10.1 INTRODUCTION……Page 365
10.2 BODE PLOTS……Page 369
10.3 SIGNAL SPECTRUMS……Page 385
10.5 PRACTICE PROBLEMS……Page 386
10.6 PRACTICE PROBLEM SOLUTIONS……Page 389
10.7 ASSIGNMENT PROBLEMS……Page 399
10.8 LOG SCALE GRAPH PAPER……Page 400
11.2 ROOT-LOCUS ANALYSIS……Page 403
11.3 SUMMARY……Page 412
11.4 PRACTICE PROBLEMS……Page 413
11.5 PRACTICE PROBLEM SOLUTIONS……Page 416
11.6 ASSIGNMENT PROBLEMS……Page 427
12.2.1 Non-Linear Relationships……Page 430
12.3 NON-LINEAR ELEMENTS……Page 431
12.3.2 Switching……Page 432
12.3.3 Deadband……Page 433
12.3.5 Hysteresis and Slip……Page 436
12.3.6 Delays and Lags……Page 437
12.7 ASIGNMENT PROBLEMS……Page 438
13.1 INTRODUCTION……Page 439
13.2 ANALOG INPUTS……Page 441
13.3 ANALOG OUTPUTS……Page 448
13.4.1 Shielding……Page 450
13.4.2 Grounding……Page 452
13.8 PRACTICE PROBLEM SOLUTIONS……Page 453
13.9 ASSIGNMENT PROBLEMS……Page 454
14.1 INTRODUCTION……Page 455
14.2 INDUSTRIAL SENSORS……Page 456
14.2.1.1 – Potentiometers……Page 457
14.2.2 Encoders……Page 458
14.2.3.1 – Potentiometers……Page 462
14.2.3.2 – Linear Variable Differential Transformers (LVDT)……Page 463
14.2.3.3 – Moire Fringes……Page 465
14.2.3.4 – Accelerometers……Page 466
14.2.4.1 – Strain Gages……Page 469
14.2.4.2 – Piezoelectric……Page 472
14.2.5 Liquids and Gases……Page 474
14.2.5.1 – Pressure……Page 475
14.2.5.2 – Venturi Valves……Page 476
14.2.5.3 – Coriolis Flow Meter……Page 477
14.2.5.6 – Vortex Flow Meter……Page 478
14.2.6 Temperature……Page 479
14.2.6.2 – Thermocouples……Page 480
14.2.6.3 – Thermistors……Page 482
14.2.7.1 – Light Dependant Resistors (LDR)……Page 484
14.2.8.2 – Conductivity……Page 485
14.3 INPUT ISSUES……Page 486
14.4 SENSOR GLOSSARY……Page 491
14.5 SUMMARY……Page 492
14.7 PRACTICE PROBLEMS……Page 493
14.8 PRACTICE PROBLEM SOLUTIONS……Page 494
14.9 ASSIGNMENT PROBLEMS……Page 496
15.2 ELECTRIC MOTORS……Page 498
15.2.1 Basic Brushed DC Motors……Page 500
15.2.2 AC Motors……Page 504
15.2.3 Brushless DC Motors……Page 512
15.2.4 Stepper Motors……Page 514
15.2.5 Wound Field Motors……Page 516
15.3 HYDRAULICS……Page 520
15.4 OTHER SYSTEMS……Page 521
15.6 PRACTICE PROBLEMS……Page 522
15.8 ASSIGNMENT PROBLEMS……Page 523
16.1 INTRODUCTION……Page 525
16.2.1 Velocity Profiles……Page 526
16.2.2 Position Profiles……Page 535
16.3 MULTI AXIS MOTION……Page 538
16.3.1 Slew Motion……Page 539
16.3.1.1 – Interpolated Motion……Page 540
16.3.2 Motion Scheduling……Page 541
16.4 PATH PLANNING……Page 543
16.5 CASE STUDIES……Page 545
16.7 PRACTICE PROBLEMS……Page 547
16.8 PRACTICE PROBLEM SOLUTIONS……Page 548
16.9 ASSIGNMENT PROBLEMS……Page 549
17.1 INTRODUCTION……Page 551
17.2 APPLYING LAPLACE TRANSFORMS……Page 553
17.2.1 A Few Transform Tables……Page 554
17.3 MODELING TRANSFER FUNCTIONS IN THE s-DOMAIN……Page 559
17.4 FINDING OUTPUT EQUATIONS……Page 561
17.5 INVERSE TRANSFORMS AND PARTIAL FRACTIONS……Page 564
17.6.1 Mass-Spring-Damper Vibration……Page 571
17.6.2 Circuits……Page 573
17.7.1 Input Functions……Page 575
17.7.2 Initial and Final Value Theorems……Page 576
17.8 A MAP OF TECHNIQUES FOR LAPLACE ANALYSIS……Page 577
17.10 PRACTICE PROBLEMS……Page 578
17.11 PRACTICE PROBLEM SOLUTIONS……Page 581
17.12 ASSIGNMENT PROBLEMS……Page 585
17.13 REFERENCES……Page 587
18.2 CONTROL SYSTEMS……Page 588
18.2.1 PID Control Systems……Page 590
18.2.2 Analysis of PID Controlled Systems With Laplace Transforms……Page 592
18.2.3 Finding The System Response To An Input……Page 595
18.3 ROOT-LOCUS PLOTS……Page 600
18.3.1 Approximate Plotting Techniques……Page 604
18.5 SUMMARY……Page 608
18.6 PRACTICE PROBLEMS……Page 609
18.8 ASSIGNMENT PROBLEMS……Page 614
19.2 UNIT IMPULSE FUNCTIONS……Page 616
19.3 IMPULSE RESPONSE……Page 618
19.4 CONVOLUTION……Page 620
19.5 NUMERICAL CONVOLUTION……Page 621
19.6 LAPLACE IMPULSE FUNCTIONS……Page 624
19.10 ASSIGNMENT PROBLEMS……Page 625
20.1 INTRODUCTION……Page 626
20.2 OBSERVABILITY……Page 638
20.3 CONTROLLABILITY……Page 640
20.5 SUMMARY……Page 643
20.9 BIBLIOGRAPHY……Page 644
21.1 INTRODUCTION……Page 645
21.2 FULL STATE FEEDBACK……Page 646
21.3 OBSERVERS……Page 649
21.5 REGULATED CONTROL WITH OBSERVERS……Page 655
21.6 LQR……Page 666
21.8 VERIFYING CONTROL SYSTEM STABILITY……Page 668
21.8.1 Stability……Page 669
21.8.2 Bounded Gain……Page 670
21.9 ADAPTIVE CONTROLLERS……Page 672
21.10 OTHER METHODS……Page 675
21.11 SUMMARY……Page 676
21.14 ASSIGNMENT PROBLEMS……Page 677
22.1 INTRODUCTION……Page 678
22.5 ASSIGNMENT PROBLEMS……Page 687
23.2.1 Induction……Page 688
23.3 EXAMPLE SYSTEMS……Page 696
23.7 ASSIGNMENT PROBLEMS……Page 703
24.2 MATHEMATICAL PROPERTIES……Page 704
24.2.1 Resistance……Page 705
24.2.2 Capacitance……Page 707
24.2.3 Power Sources……Page 709
24.3 EXAMPLE SYSTEMS……Page 711
24.7 ASSIGNMENT PROBLEMS……Page 713
25.2.1 Resistance……Page 714
25.2.2 Capacitance……Page 716
25.3 EXAMPLE SYSTEMS……Page 717
25.7 ASSIGNMENT PROBLEMS……Page 720
26.1 INTRODUCTION……Page 721
26.2 OBJECTIVES AND CONSTRAINTS……Page 722
26.3 SEARCHING FOR THE OPTIMUM……Page 726
26.4.1 Random Walk……Page 729
26.8 ASSIGNMENT PROBLEMS……Page 730
27.1 INTRODUCTION……Page 731
27.2 FINITE ELEMENT MODELS……Page 732
27.3 FINITE ELEMENT MODELS……Page 734
27.4 SUMMARY……Page 742
27.8 BIBLIOGRAPHY……Page 743
28.1 INTRODUCTION……Page 744
28.4 SUMMARY……Page 750
28.7 ASSIGNMENT PROBLEMS……Page 751
29. NEURAL NETWORKS……Page 753
29.1 SUMMARY……Page 761
29.5 REFERENCES……Page 762
30.1 INTRODUCTION……Page 765
30.6 ASSIGNMENT PROBLEMS……Page 767
31.1 FORGET WHAT YOU WERE TAUGHT BEFORE……Page 768
31.2 WHY WRITE REPORTS?……Page 769
31.5 LABORATORY REPORTS……Page 770
31.5.0.1 – An Example First Draft of a Report……Page 772
31.7 DRAFT REPORTS……Page 778
31.8 PROJECT REPORT……Page 779
31.9.3 Memo(randum)……Page 780
31.9.6 Progress Report……Page 781
31.9.8 Patent……Page 782
31.11 REPORT ELEMENTS……Page 783
31.11.1 Figures……Page 784
31.11.2 Graphs……Page 785
31.11.4 Equations……Page 786
31.11.5 Experimental Data……Page 787
31.11.8 Acknowledgments……Page 788
31.11.10 Appendices……Page 789
31.11.13 Engineering Drawings……Page 790
31.11.16 Recomendations……Page 791
31.12 GENERAL WRITING ISSUES……Page 792
31.14 TECHNICAL ENGLISH……Page 793
31.15 EVALUATION FORMS……Page 796
31.16 PATENTS……Page 798
32.2 OVERVIEW……Page 803
32.2.1 The Objectives and Constraints……Page 804
32.3.1 Timeline – Tentative……Page 805
32.3.2 Teams……Page 806
32.4.2 EGR 345/101 Contract……Page 807
32.4.4 Design Proposal……Page 808
32.4.5 The Final Report……Page 809
32.5.1 Gantt Charts……Page 810
32.5.3 Budgets and Bills of Material……Page 811
32.6.1 Appendix A – Sample System……Page 812
32.6.2 Appendix B – EGR 345/101 Contract……Page 820
32.6.3 Appendix C – Forms……Page 821
33.2 EXPECTED ELEMENTS……Page 826
33.4 SCILAB……Page 827
33.5 TERMINOLOGY……Page 828
34.1 INTRODUCTION……Page 829
34.1.1 Constants and Other Stuff……Page 830
34.1.2 Basic Operations……Page 831
34.1.3 Exponents and Logarithms……Page 832
34.1.4 Polynomial Expansions……Page 833
34.1.5 Practice Problems……Page 834
34.2.2 Basic Polynomials……Page 837
34.2.3 Partial Fractions……Page 839
34.2.4 Summation and Series……Page 842
34.2.5 Practice Problems……Page 844
34.3.1 Trigonometry……Page 845
34.3.2 Hyperbolic Functions……Page 850
34.3.2.1 – Practice Problems……Page 851
34.3.3 Geometry……Page 852
34.3.4 Planes, Lines, etc…….Page 869
34.3.5 Practice Problems……Page 871
34.4.1 Complex Numbers……Page 873
34.4.2 Cylindrical Coordinates……Page 876
34.4.3 Spherical Coordinates……Page 877
34.4.4 Practice Problems……Page 878
34.5.1 Vectors……Page 879
34.5.2 Dot (Scalar) Product……Page 880
34.5.3 Cross Product……Page 885
34.5.5 Matrices……Page 887
34.5.6 Solving Linear Equations with Matrices……Page 892
34.5.7 Practice Problems……Page 893
34.6.1.1 – Differentiation……Page 898
34.6.1.2 – Integration……Page 901
34.6.2 Vector Calculus……Page 905
34.6.3 Differential Equations……Page 907
34.6.3.1 – First-order Differential Equations……Page 908
34.6.3.1.2 – Separable Equations……Page 909
34.6.3.1.3 – Homogeneous Equations and Substitution……Page 910
34.6.3.2.1 – Linear Homogeneous……Page 911
34.6.3.2.2 – Nonhomogeneous Linear Equations……Page 912
34.6.3.4 – Partial Differential Equations……Page 914
34.6.5 Practice Problems……Page 915
34.7.1 Approximation of Integrals and Derivatives from Sampled Data……Page 921
34.7.3 Taylor Series Integration……Page 922
34.7.5 Newton-Raphson to Find Roots……Page 923
34.8.1 Laplace Transform Tables……Page 924
34.9 z-TRANSFORMS……Page 927
34.11 TOPICS NOT COVERED (YET)……Page 930
34.12 REFERENCES/BIBLIOGRAPHY……Page 931
35.1 WHY USE ‘C’?……Page 932
35.3 PROGRAM PARTS……Page 933
35.4 HOW A ‘C’ COMPILER WORKS……Page 942
35.5 STRUCTURED ‘C’ CODE……Page 944
35.6.1 How?……Page 945
35.6.2 Why?……Page 946
35.7 CREATING TOP DOWN PROGRAMS……Page 947
35.8 HOW THE BEAMCAD PROGRAM WAS DESIGNED……Page 948
35.8.3.1 – Screen Layout (also see figure):……Page 949
35.8.3.2 – Input:……Page 950
35.8.3.5 – Error Checking:……Page 951
35.8.3.6 – Miscellaneous:……Page 952
35.8.5 Expand Program:……Page 953
35.8.6 Testing and Debugging:……Page 955
35.8.7.1 – Users Manual:……Page 956
35.9 PRACTICE PROBLEMS……Page 957
36.1 HOW TO USE UNITS……Page 959
36.3 THE TABLE……Page 960
36.4 ASCII, HEX, BINARY CONVERSION……Page 964
36.5 G-CODES……Page 966
37. MECHANICAL MATERIAL PROPERTIES……Page 970
37.1 FORMULA SHEET……Page 973
38.1.2 VandeVegte……Page 978
39.1 UPDATED DC MOTOR MODEL……Page 980
39.2 ANOTHER DC MOTOR MODEL……Page 983
39.3 BLOCK DIAGRAMS AND UNITS……Page 987
39.6 TORSIONAL DAMPERS……Page 988
39.8 Nyquist Plot……Page 989
39.9 NICHOLS CHART……Page 991
39.10 BESSEL POLYNOMIALS……Page 993
39.11 ITAE……Page 994
39.13 LYAPUNOV’S LINEARIZATION METHOD……Page 995
39.14 XXXXX……Page 996
39.22 PRACTICE PROBLEMS……Page 997
39.26 BIBLIOGRAPHY……Page 998
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