H Jack
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 29
2.2.4 Springs……Page 32
2.2.5 Damping and Drag……Page 38
2.2.6 Cables And Pulleys……Page 41
2.2.7 Friction……Page 43
2.2.8 Contact Points And Joints……Page 45
2.3 SYSTEM EXAMPLES……Page 46
2.4 OTHER TOPICS……Page 56
2.6 PRACTICE PROBLEMS……Page 57
2.7 PRACTICE PROBLEM SOLUTIONS……Page 62
2.8 ASSIGNMENT PROBLEMS……Page 66
3.1 INTRODUCTION……Page 67
3.2 EXPLICIT SOLUTIONS……Page 68
3.3 RESPONSES……Page 81
3.3.1 First-order……Page 82
3.3.2 Second-order……Page 88
3.3.3 Other Responses……Page 93
3.4 RESPONSE ANALYSIS……Page 96
3.5 NON-LINEAR SYSTEMS……Page 98
3.5.1 Non-Linear Differential Equations……Page 99
3.5.2 Non-Linear Equation Terms……Page 103
3.5.3 Changing Systems……Page 106
3.6 CASE STUDY……Page 112
3.8 PRACTICE PROBLEMS……Page 116
3.9 PRACTICE PROBLEM SOLUTIONS……Page 121
3.10 ASSIGNMENT PROBLEMS……Page 126
4.2 THE GENERAL METHOD……Page 127
4.2.1 State Variable Form……Page 128
4.3.1 Numerical Integration With Tools……Page 136
4.3.2 Numerical Integration……Page 141
4.3.3 Taylor Series……Page 147
4.3.4 Runge-Kutta Integration……Page 149
4.4 SYSTEM RESPONSE……Page 155
4.5 DIFFERENTIATION AND INTEGRATION OF EXPERIMENTAL DATA……Page 156
4.6.1 Switching Functions……Page 159
4.6.2 Interpolating Tabular Data……Page 162
4.6.3 Modeling Functions with Splines……Page 163
4.7 CASE STUDY……Page 165
4.8 SUMMARY……Page 172
4.9 PRACTICE PROBLEMS……Page 173
4.10 PRACTICE PROBLEM SOLUTIONS……Page 176
4.11 ASSIGNMENT PROBLEMS……Page 186
5.1 INTRODUCTION……Page 188
5.2 MODELING……Page 189
5.2.1 Inertia……Page 190
5.2.2 Springs……Page 194
5.2.3 Damping……Page 199
5.2.4 Levers……Page 201
5.2.5 Gears and Belts……Page 202
5.2.6 Friction……Page 206
5.2.7 Permanent Magnet Electric Motors……Page 209
5.4 DESIGN CASE……Page 210
5.6 PRACTICE PROBLEMS……Page 215
5.7 PRACTICE PROBLEM SOLUTIONS……Page 222
5.8 ASSIGNMENT PROBLEMS……Page 231
6.2 THE DIFFERENTIAL OPERATOR……Page 234
6.3 INPUT-OUTPUT EQUATIONS……Page 237
6.3.1 Converting Input-Output Equations to State Equations……Page 239
6.3.2 Integrating Input-Output Equations……Page 242
6.4 DESIGN CASE……Page 244
6.6 PRACTICE PROBLEMS……Page 253
6.7 PRACTICE PROBLEM SOLUTIONS……Page 255
6.8 ASSGINMENT PROBLEMS……Page 259
6.9 REFERENCES……Page 260
7.2 MODELING……Page 261
7.2.1 Resistors……Page 262
7.2.2 Voltage and Current Sources……Page 264
7.2.3 Capacitors……Page 268
7.2.4 Inductors……Page 270
7.2.5 Op-Amps……Page 271
7.3 IMPEDANCE……Page 276
7.4 EXAMPLE SYSTEMS……Page 278
7.5 PERMANENT MAGNET DC MOTORS……Page 286
7.6 INDUCTION MOTORS……Page 288
7.7 BRUSHLESS SERVO MOTORS……Page 289
7.8 FILTERS……Page 292
7.10 SUMMARY……Page 293
7.11 PRACTICE PROBLEMS……Page 294
7.12 PRACTICE PROBLEM SOLUTIONS……Page 298
7.13 ASSIGNMENT PROBLEMS……Page 303
8.2 TRANSFER FUNCTIONS……Page 305
8.3 CONTROL SYSTEMS……Page 307
8.3.1 PID Control Systems……Page 309
8.3.2 Manipulating Block Diagrams……Page 311
8.3.3 A Motor Control System Example……Page 316
8.3.4 System Error……Page 321
8.3.6 Feedforward Controllers……Page 325
8.3.7 State Equation Based Systems……Page 326
8.5 PRACTICE PROBLEMS……Page 328
8.6 PRACTICE PROBLEM SOLUTIONS……Page 335
8.7 ASSIGNMENT PROBLEMS……Page 341
9.2 PHASORS FOR STEADY-STATE ANALYSIS……Page 342
9.3 VIBRATIONS……Page 349
9.5 PRACTICE PROBLEMS……Page 351
9.6 PRACTICE PROBLEM SOLUTIONS……Page 353
9.7 ASSIGNMENT PROBLEMS……Page 355
10.1 INTRODUCTION……Page 356
10.2 BODE PLOTS……Page 360
10.3 SIGNAL SPECTRUMS……Page 376
10.5 PRACTICE PROBLEMS……Page 377
10.6 PRACTICE PROBLEM SOLUTIONS……Page 380
10.7 ASSIGNMENT PROBLEMS……Page 390
10.8 LOG SCALE GRAPH PAPER……Page 391
11.2 ROOT-LOCUS ANALYSIS……Page 393
11.3 SUMMARY……Page 401
11.4 PRACTICE PROBLEMS……Page 402
11.5 PRACTICE PROBLEM SOLUTIONS……Page 405
11.6 ASSIGNMENT PROBLEMS……Page 416
12.2.1 Non-Linear Relationships……Page 418
12.3 NON-LINEAR ELEMENTS……Page 419
12.3.2 Switching……Page 420
12.3.3 Deadband……Page 421
12.3.4 Hysteresis and Slip……Page 424
12.7 ASIGNMENT PROBLEMS……Page 425
13.1 INTRODUCTION……Page 426
13.2 ANALOG INPUTS……Page 428
13.3 ANALOG OUTPUTS……Page 434
13.4.1 Shielding……Page 437
13.4.2 Grounding……Page 439
13.8 PRACTICE PROBLEM SOLUTIONS……Page 440
13.9 ASSIGNMENT PROBLEMS……Page 441
14.1 INTRODUCTION……Page 442
14.2 INDUSTRIAL SENSORS……Page 443
14.2.1.1 – Potentiometers……Page 444
14.2.2 Encoders……Page 445
14.2.3.1 – Potentiometers……Page 449
14.2.3.2 – Linear Variable Differential Transformers (LVDT)……Page 450
14.2.3.3 – Moire Fringes……Page 452
14.2.3.4 – Accelerometers……Page 453
14.2.4.1 – Strain Gages……Page 456
14.2.4.2 – Piezoelectric……Page 459
14.2.5 Liquids and Gases……Page 461
14.2.5.1 – Pressure……Page 462
14.2.5.2 – Venturi Valves……Page 463
14.2.5.3 – Coriolis Flow Meter……Page 464
14.2.5.6 – Vortex Flow Meter……Page 465
14.2.6 Temperature……Page 466
14.2.6.2 – Thermocouples……Page 467
14.2.6.3 – Thermistors……Page 469
14.2.7.1 – Light Dependant Resistors (LDR)……Page 471
14.2.8.2 – Conductivity……Page 472
14.3 INPUT ISSUES……Page 473
14.4 SENSOR GLOSSARY……Page 478
14.5 SUMMARY……Page 479
14.7 PRACTICE PROBLEMS……Page 480
14.8 PRACTICE PROBLEM SOLUTIONS……Page 481
14.9 ASSIGNMENT PROBLEMS……Page 483
15.2 ELECTRIC MOTORS……Page 484
15.2.1 Basic Brushed DC Motors……Page 485
15.2.2 AC Motors……Page 490
15.2.3 Brushless DC Motors……Page 495
15.2.4 Stepper Motors……Page 497
15.2.5 Wound Field Motors……Page 499
15.3 HYDRAULICS……Page 503
15.4 OTHER SYSTEMS……Page 504
15.6 PRACTICE PROBLEMS……Page 505
15.8 ASSIGNMENT PROBLEMS……Page 506
16.1 INTRODUCTION……Page 508
16.2.1 Velocity Profiles……Page 509
16.2.2 Position Profiles……Page 518
16.3 MULTI AXIS MOTION……Page 521
16.3.1 Slew Motion……Page 522
16.3.1.1 – Interpolated Motion……Page 523
16.3.2 Motion Scheduling……Page 524
16.4 PATH PLANNING……Page 526
16.5 CASE STUDIES……Page 528
16.7 PRACTICE PROBLEMS……Page 530
16.8 PRACTICE PROBLEM SOLUTIONS……Page 531
16.9 ASSIGNMENT PROBLEMS……Page 532
17.1 INTRODUCTION……Page 533
17.2 APPLYING LAPLACE TRANSFORMS……Page 535
17.2.1 A Few Transform Tables……Page 536
17.3 MODELING TRANSFER FUNCTIONS IN THE s-DOMAIN……Page 541
17.4 FINDING OUTPUT EQUATIONS……Page 543
17.5 INVERSE TRANSFORMS AND PARTIAL FRACTIONS……Page 546
17.6.1 Mass-Spring-Damper Vibration……Page 553
17.6.2 Circuits……Page 555
17.7.1 Input Functions……Page 557
17.7.2 Initial and Final Value Theorems……Page 558
17.8 A MAP OF TECHNIQUES FOR LAPLACE ANALYSIS……Page 559
17.10 PRACTICE PROBLEMS……Page 560
17.11 PRACTICE PROBLEM SOLUTIONS……Page 563
17.12 ASSIGNMENT PROBLEMS……Page 567
17.13 REFERENCES……Page 568
18.2 CONTROL SYSTEMS……Page 569
18.2.1 PID Control Systems……Page 571
18.2.2 Analysis of PID Controlled Systems With Laplace Transforms……Page 573
18.2.3 Finding The System Response To An Input……Page 576
18.3 ROOT-LOCUS PLOTS……Page 581
18.3.1 Approximate Plotting Techniques……Page 585
18.5 SUMMARY……Page 589
18.6 PRACTICE PROBLEMS……Page 590
18.8 ASSIGNMENT PROBLEMS……Page 595
19.2 UNIT IMPULSE FUNCTIONS……Page 597
19.3 IMPULSE RESPONSE……Page 599
19.4 CONVOLUTION……Page 601
19.5 NUMERICAL CONVOLUTION……Page 602
19.6 LAPLACE IMPULSE FUNCTIONS……Page 605
19.10 ASSIGNMENT PROBLEMS……Page 606
20.1 INTRODUCTION……Page 607
20.2 OBSERVABILITY……Page 617
20.3 CONTROLLABILITY……Page 619
20.7 ASSIGNMENT PROBLEMS……Page 622
20.8 BIBLIOGRAPHY……Page 623
21.2 FULL STATE FEEDBACK……Page 624
21.4 PRACTICE PROBLEMS……Page 628
21.6 ASSIGNMENT PROBLEMS……Page 629
22.2.1 Induction……Page 630
22.3 EXAMPLE SYSTEMS……Page 638
22.7 ASSIGNMENT PROBLEMS……Page 645
23.2 MATHEMATICAL PROPERTIES……Page 646
23.2.1 Resistance……Page 647
23.2.2 Capacitance……Page 649
23.2.3 Power Sources……Page 651
23.3 EXAMPLE SYSTEMS……Page 653
23.7 ASSIGNMENT PROBLEMS……Page 655
24.2.1 Resistance……Page 656
24.2.2 Capacitance……Page 658
24.3 EXAMPLE SYSTEMS……Page 659
24.7 ASSIGNMENT PROBLEMS……Page 662
25.1 INTRODUCTION……Page 663
25.2 OBJECTIVES AND CONSTRAINTS……Page 664
25.3 SEARCHING FOR THE OPTIMUM……Page 668
25.4.1 Random Walk……Page 671
25.8 ASSIGNMENT PROBLEMS……Page 672
26.1 INTRODUCTION……Page 673
26.2 FINITE ELEMENT MODELS……Page 674
26.3 FINITE ELEMENT MODELS……Page 676
26.4 SUMMARY……Page 684
26.8 BIBLIOGRAPHY……Page 685
27.1 INTRODUCTION……Page 686
27.4 SUMMARY……Page 692
27.7 ASSIGNMENT PROBLEMS……Page 693
28. NEURAL NETWORKS……Page 695
28.1 SUMMARY……Page 703
28.5 REFERENCES……Page 704
29.1 FORGET WHAT YOU WERE TAUGHT BEFORE……Page 707
29.2 WHY WRITE REPORTS?……Page 708
29.5 LABORATORY REPORTS……Page 709
29.5.0.1 – An Example First Draft of a Report……Page 711
29.7 DRAFT REPORTS……Page 717
29.8 PROJECT REPORT……Page 718
29.9.3 Memo(randum)……Page 719
29.9.6 Progress Report……Page 720
29.9.8 Patent……Page 721
29.11 REPORT ELEMENTS……Page 722
29.11.1 Figures……Page 723
29.11.2 Graphs……Page 724
29.11.4 Equations……Page 725
29.11.5 Experimental Data……Page 726
29.11.8 Acknowledgments……Page 727
29.11.10 Appendices……Page 728
29.11.13 Engineering Drawings……Page 729
29.11.16 Recomendations……Page 730
29.12 GENERAL WRITING ISSUES……Page 731
29.14 TECHNICAL ENGLISH……Page 732
29.15 EVALUATION FORMS……Page 735
29.16 PATENTS……Page 737
30.2 OVERVIEW……Page 742
30.2.1 The Objectives and Constraints……Page 743
30.3.1 Timeline – Tentative……Page 744
30.3.2 Teams……Page 745
30.4.2 EGR 345/101 Contract……Page 746
30.4.4 Design Proposal……Page 747
30.4.5 The Final Report……Page 748
30.5.1 Gantt Charts……Page 749
30.5.3 Budgets and Bills of Material……Page 750
30.6.1 Appendix A – Sample System……Page 751
30.6.2 Appendix B – EGR 345/101 Contract……Page 759
30.6.3 Appendix C – Forms……Page 760
31.2 EXPECTED ELEMENTS……Page 765
31.4 SCILAB……Page 766
31.5 TERMINOLOGY……Page 767
32.1 INTRODUCTION……Page 768
32.1.1 Constants and Other Stuff……Page 769
32.1.2 Basic Operations……Page 770
32.1.3 Exponents and Logarithms……Page 771
32.1.4 Polynomial Expansions……Page 772
32.1.5 Practice Problems……Page 773
32.2.2 Basic Polynomials……Page 776
32.2.3 Partial Fractions……Page 778
32.2.4 Summation and Series……Page 781
32.2.5 Practice Problems……Page 783
32.3.1 Trigonometry……Page 784
32.3.2 Hyperbolic Functions……Page 789
32.3.2.1 – Practice Problems……Page 790
32.3.3 Geometry……Page 791
32.3.4 Planes, Lines, etc…….Page 808
32.3.5 Practice Problems……Page 810
32.4.1 Complex Numbers……Page 812
32.4.2 Cylindrical Coordinates……Page 815
32.4.3 Spherical Coordinates……Page 816
32.4.4 Practice Problems……Page 817
32.5.1 Vectors……Page 818
32.5.2 Dot (Scalar) Product……Page 819
32.5.3 Cross Product……Page 824
32.5.5 Matrices……Page 826
32.5.6 Solving Linear Equations with Matrices……Page 831
32.5.7 Practice Problems……Page 832
32.6.1.1 – Differentiation……Page 837
32.6.1.2 – Integration……Page 840
32.6.2 Vector Calculus……Page 844
32.6.3 Differential Equations……Page 846
32.6.3.1 – First-order Differential Equations……Page 847
32.6.3.1.2 – Separable Equations……Page 848
32.6.3.1.3 – Homogeneous Equations and Substitution……Page 849
32.6.3.2.1 – Linear Homogeneous……Page 850
32.6.3.2.2 – Nonhomogeneous Linear Equations……Page 851
32.6.3.4 – Partial Differential Equations……Page 853
32.6.5 Practice Problems……Page 854
32.7.1 Approximation of Integrals and Derivatives from Sampled Data……Page 860
32.7.3 Taylor Series Integration……Page 861
32.7.5 Newton-Raphson to Find Roots……Page 862
32.8.1 Laplace Transform Tables……Page 863
32.9 z-TRANSFORMS……Page 866
32.11 TOPICS NOT COVERED (YET)……Page 869
32.12 REFERENCES/BIBLIOGRAPHY……Page 870
33.1 WHY USE ‘C’?……Page 871
33.3 PROGRAM PARTS……Page 872
33.4 HOW A ‘C’ COMPILER WORKS……Page 881
33.5 STRUCTURED ‘C’ CODE……Page 883
33.6.1 How?……Page 884
33.6.2 Why?……Page 885
33.7 CREATING TOP DOWN PROGRAMS……Page 886
33.8 HOW THE BEAMCAD PROGRAM WAS DESIGNED……Page 887
33.8.3.1 – Screen Layout (also see figure):……Page 888
33.8.3.2 – Input:……Page 889
33.8.3.5 – Error Checking:……Page 890
33.8.3.6 – Miscellaneous:……Page 891
33.8.5 Expand Program:……Page 892
33.8.6 Testing and Debugging:……Page 894
33.8.7.1 – Users Manual:……Page 895
33.9 PRACTICE PROBLEMS……Page 896
34.1 HOW TO USE UNITS……Page 898
34.3 THE TABLE……Page 899
34.4 ASCII, HEX, BINARY CONVERSION……Page 903
34.5 G-CODES……Page 905
35. MECHANICAL MATERIAL PROPERTIES……Page 909
35.1 FORMULA SHEET……Page 912
36.1.2 VandeVegte……Page 917
37.1 UPDATED DC MOTOR MODEL……Page 919
37.2 ANOTHER DC MOTOR MODEL……Page 922
37.3 STATE SPACE IDENTIFICATION……Page 926
37.6 ZERO ORDER HOLD……Page 935
37.8 MISC……Page 936
37.11 BESSEL POLYNOMIALS……Page 937
37.12 ITAE……Page 938
37.13 LQR……Page 939
37.20 XXXXX……Page 941
37.28 BIBLIOGRAPHY……Page 942
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