Mechatronic Systems

Fundamentals

By: Rolf Isermann

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Paperback | 26 October 2005

At a Glance

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648 Pages

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Many processes and systems require an increasingly sophisticated integration of mechanical and electronic components with information processing capacity. The development of such mechatronic systems opens the way to many innovative solutions not possible with mechanics or electronics alone. Mechatronic Systems introduces these developments by considering the dynamic modelling of components together with their interactions. The whole range of elements is presented - from actuators, through different kinds of processes, to sensors. It offers a structure that takes readers from the basics of unified theoretical modelling, through information processing to examples of system development, as well as affording practical advice for engineers. Written by one of the world's leading experts with great experience with real systems and applied research, Mechatronic Systems will be of lasting value to advanced students and will also prove useful to practising engineers wanting an in-depth understanding of how these disciplines and information technology are becoming interlinked

Industry Reviews

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"Professor Isermann's book on mechatronics is in the meantime a real classic ... . Isermann gives an excellent presentation of how to get a systematic order into complex systems, indispensable for all, students and professionals, being involved in these modern technologies. ... The book is written in a very clear and comprehensive way. ... Altogether a perfect book, which will find its readers. ... it will be a great success all over the world. My sincere congratulations to the author." (Friedrich Pfeiffer, Meccanica, Vol. 43, 2008)

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You Can Find This Book In

Non-Fiction Engineering & Technology Electronics & Communications Engineering Electronics Engineering Automatic Control Engineering Robotics Energy Technology & Engineering Electrical Engineering Mechanical Engineering & Materials Mechanical Engineering Engines & Power Transmission Computing & I.T.

Computer Science Technology in General Technical Design Graphical & Digital Media Applications 3D Graphics & Modelling

List of Symbols	p. xix
Integrated Mechanical Electronic Systems	p. 1
From Mechanical to Mechatronic Systems	p. 1
Mechanical Systems	p. 6
Mechanical Systems in Mechanical Engineering	p. 8
Mechanical Systems in Precision Mechanic Devices	p. 9
Micromechanics	p. 9
Mechanical Systems in Apparatus (ProcessEngineering)	p. 10
Confinement of Mechatronic Systems	p. 10
Functions of Mechatronic Systems	p. 11
Design	p. 11
Distribution of Mechanical and Electronic Functions	p. 12
Operating Properties	p. 13
New Functions	p. 13
Other Developments	p. 14
Integration Forms of Processes and Electronics	p. 14
Ways of Information Processing	p. 18
Multi-level Control Systems	p. 18
Special Signal Preprocessing	p. 19
Information Gaining	p. 19
Model-based Methods of Control	p. 20
Supervision and Fault Diagnosis	p. 21
Intelligent Systems	p. 22
Design Procedures for Mechatronic Systems	p. 24
Contents of this Book	p. 29
Fundamentals of Theoretical Modeling of Technical Processes	p. 33
Theoretical and Experimental Modeling	p. 34
Classification of Process Elements	p. 37
Forms of Matter	p. 37
Main Flows and Side Flows	p. 38
Process Elements with Lumped Parameters	p. 40
Process Elements with Distributed Parameters	p. 46
Fundamental Equations of Process Elements with Energy and Matter Flows	p. 46
Balance Equations	p. 47
Constitutive Equations	p. 51
Phenomenological Equations	p. 68
Energy Balance Equations for Lumped Parameter Processes	p. 71
Energy Balance for Mechanical Systems	p. 71
Energy Balance for Thermal Systems (Rigid Bodies, Fluids)	p. 77
Energy Balance for Gases and Steam	p. 79
Energy Balance for Electrical Systems	p. 83
Common Properties of Balance Equations	p. 85
Connection of Process Elements	p. 88
Node Equation and Mesh Equation	p. 88
Causality of Process Elements	p. 91
Analogies between Mechanical and Electrical Systems	p. 94
Summary	p. 97
Problems	p. 99
Fundamental Equations of the Dynamics of Mechanical Systems with Mobile Masses	p. 101
Newton's Laws of Kinetics	p. 102
Translational Motion	p. 102
Rotational Motion	p. 103
Principles of Mechanics	p. 106
d'Alembert's Principle	p. 106
Lagrange's Equations	p. 109
Problems	p. 114
Mechanical Elements	p. 115
Bars	p. 116
Springs	p. 118
Dampers	p. 121
Dampers with Dry and Viscous Friction	p. 121
Spring-damper Systems	p. 122
Bearings	p. 124
Sliding Bearings	p. 124
Roller Bearings	p. 125
One-mass Oscillator (Spring-mass-damper Systems)	p. 128
Longitudinal Oscillators	p. 128
Torsional Oscillators	p. 133
Multi-mass Oscillators	p. 134
Two-mass Torsional Oscillator with One Spring	p. 134
Two-mass Torsional Oscillator with Two Springs	p. 140
Two-mass Torsional Oscillator with Gear and One Spring	p. 142
Power Transmissions	p. 146
Belt Drives	p. 151
Absorbers and Dampers	p. 158
Mechanical Systems with Friction	p. 159
Mechanical Systems with Backlash	p. 162
Problems	p. 164
Electrical Drives	p. 167
Types of Electrical Drives	p. 167
Electromagnets	p. 170
Types of Electromagnets	p. 170
The Magnetic Field	p. 171
Static Behavior of Simple Magnetic Circuits	p. 173
Dynamic Behavior of Simple Magnetic Circuits	p. 175
Static Behavior of Electromagnets	p. 177
Dynamic Behavior of Electromagnets and Position Control	p. 181
Direct Current Motors	p. 184
Induced Voltage	p. 186
Torque Generation	p. 187
Dynamic Behavior	p. 188
Static Behavior	p. 192
Speed and Position Control	p. 194
Brushless DC Motors (Electronic Commutation)	p. 196
Special Types of DC Motors	p. 200
Alternating Current Motors(AC)	p. 205
Induction Motors	p. 205
Synchronous Motors	p. 215
Single-phase Motors	p. 221
Commutator Motors (Universal Motors)	p. 221
Squirrel-cage Motors	p. 222
Power Electronics	p. 225
Power Component Parts	p. 225
Power Circuits	p. 226
Internally or Externally Commutated Electromotors	p. 234
Problems	p. 235
Machines and Drivetrains	p. 241
Coupling of Machine Components to Complete Machines	p. 243
Characteristics and Stability of Machines	p. 248
Static Behavior of Power-generating and Power-consuming Machines	p. 257
Dynamic Model of a Combustion Engine Test Stand	p. 262
Dynamic Behavior of a Machine Tool Feed Drive	p. 268
A Feed Drive and its Components	p. 268
Identification of the Feed Drive Control System	p. 270
Dynamic Model of an AC Motor and Centrifugal Pump System	p. 273
Theoretical Model of Centrifugal Pumps	p. 273
Overall Model of the Pumping Plant and Identification	p. 274
Dynamic Model of an Automobile Drivetrain	p. 278
Components of an Automotive Drivetrain	p. 279
Drivetrain Model with Driveshaft Elasticity	p. 280
Dependency of System Behavior on the Operating Point	p. 283
Storage with and without Feedback	p. 283
Tuning of Controller Parameters	p. 286
Advanced Control of Mechanical Systems	p. 286
Lower Level Feedback Control	p. 287
Higher Level Feedback Control	p. 289
Adaptive Control	p. 290
Fuzzy Control	p. 290
Problems	p. 291
Identification of Dynamic Systems	p. 293
Identification Methods	p. 293
General Procedure	p. 293
Classification of Identification Methods	p. 294
Identification Methods	p. 295
Test Signals	p. 298
Closed-loop Identification	p. 299
Type of Application	p. 299
Parameter Estimation for Discrete Time Signals	p. 299
Method of Least Squares (LS)	p. 300
Recursive Method of Least Squares (RLS)	p. 303
Modifications of the Least Squares Method	p. 303
Parameter Estimation for Continuous Time Signals	p. 303
Method of Least Squares	p. 304
Time-varying Systems	p. 306
Non-linear Processes	p. 308
Parameter Estimation with Classical Non-linear Models	p. 308
Artificial Neural Networks	p. 309
Fuzzy-logic Models	p. 323
Grid-based Look-up Tables for Static Systems	p. 325
Parameter Estimation for Non-continuously Differentiable Non-linear Processes (Friction and Backlash)	p. 327
Problems	p. 331
Models of Oscillations and their Identification	p. 333
Harmonic Oscillations	p. 333
Single Oscillations	p. 334
Superposition	p. 334
Amplitude Modulation	p. 334
Frequency and Phase Modulation	p. 335
Beating (Libration)	p. 337
Superposition and Non-linear Characteristics	p. 338
Identification of Harmonic Oscillations	p. 339
Bandpass Filtering	p. 339
Fourer Analysis	p. 340
Correlation Functions	p. 340
Fourer Transformation	p. 341
Fast Fourier Transformation (FFT)	p. 343
Maximum-entropy Spectral Estimation	p. 347
Speed Signal Analysis of Combustion Engines	p. 353
Problems	p. 357
Sensors	p. 359
Measurng System	p. 360
Classification of Sensors	p. 360
Sensor Properties	p. 362
Signal Types, Transducers, Measuring Amplifiers	p. 363
Displacement Measurement	p. 364
Velocity Measurement	p. 368
Acceleration Measurement	p. 370
Vibration and Oscillation Measurement	p. 372
Force and Pressure Measurement	p. 372
Torque Measurement	p. 373
Temperature Measurement	p. 373
Analog-to-Digital Conversion	p. 376
Electromagnetic Compatibility (EMC)	p. 377
Integrated and Intelligent Sensors	p. 378
Problems	p. 381
Actuators	p. 383
Basic Structures of Actuators	p. 384
General Survey of Actuators	p. 387
Types of Auxiliary Energy	p. 387
Actuator Behavior and Control	p. 389
Requirements for Actuators and Servo-drives	p. 392
Electromechanical Actuator Drives	p. 392
Electrical Motors	p. 393
Electromagnets	p. 404
Hydraulic Actuators	p. 406
Hydraulic Actuation Systems	p. 407
Hydraulic Components and their Models	p. 408
Models of an Hydraulic Servo-axis: An Example	p. 429
Pneumatic Actuators	p. 439
Pneumatic Actuating Systems	p. 439
Pneumatic Components and their Models	p. 442
Model-based Control of a Pneumatic Servo-axis	p. 452
Models of a Pneumatic Valve	p. 456
Unconventional Actuators	p. 457
Thermo-bimetals	p. 458
Shaped Memory Alloys	p. 459
Thermal Expansion Elements	p. 462
Electrochemical Actuators	p. 463
Electro-rheological and Magneto-rheological Fluids	p. 463
Piezoelectric Actuators	p. 465
Electrostrictive and Magnetostrictive Actuators	p. 469
Micro-actuators	p. 470
Comparison of Application Areas	p. 471
Actuators as System Components	p. 474
Ports	p. 475
Integration of Actuator and Process	p. 475
Implemented Functionality	p. 475
Fault-tolerant Components	p. 476
Fault-tolerance for Components	p. 476
Fault-tolerance for Control Systems	p. 480
Fault Detection for Sensors, Actuators and Mechatronic Servo-systems	p. 480
Fault-tolerant Components for Mechatronic Systems	p. 481
Fault-tolerant Sensors	p. 481
Fault-tolerant Actuators	p. 484
Problems	p. 485
Microcomputers	p. 487
Microcomputer Structure	p. 489
Standard Processors	p. 490
Standard Processor Architecture	p. 492
Software for Standard Processors	p. 495
Memory	p. 497
Interfaces to the Process (Peripherals)	p. 501
Analog Inputs	p. 502
Digital and Binary Inputs	p. 504
Analog Outputs	p. 504
Digital and Binary Outputs	p. 505
Microcontrollers	p. 506
Architecture of Microcontrollers	p. 507
Software for Microcontrollers	p. 510
Signal Processors	p. 510
Application-specific Processors (ASICS)	p. 512
Field Bus Systems	p. 514
Net Topologies	p. 515
Basic Bus Functions	p. 517
OSI (Open System Interconnection) Reference Model	p. 517
Profibus	p. 519
CAN Bus	p. 523
Examples for the Design of Mechatronic Systems: Modeling, Control and Diagnosis	p. 527
Electromagnetic Actuator: Non-linear Control and Fault Detection	p. 527
Model-based Compensation of Non-linearities	p. 527
Electromagnetic Actuator	p. 529
Electrical Throttle Valve for SI Engines: Modeling and Fault Diagnosis	p. 535
Semi-active Vehicle Suspensions	p. 538
Passive Vehicle Suspensions	p. 538
Semi-active Suspensions	p. 543
Dynamic Models of a Quarter-car	p. 549
Identification of a Quarter-carModel	p. 551
Suspension Control	p. 554
Simulations of a Semi-active Two-chamber Air Spring	p. 559
Electromechanical Disc Brake (EMB)	p. 560
Introduction	p. 560
Wheel Module	p. 562
Brake Model	p. 564
Simplified Brake Model	p. 567
Simulation and Measurement	p. 568
Control Prototyping and Hardware-in-the-loop Simulation	p. 569
Simulation Methods	p. 569
Rapid Control Prototyping for Engine Control	p. 571
Hardware-in-the-loop Simulation for Diesel Engines	p. 572
Industrial Robot	p. 577
Modeling	p. 578
Control	p. 583
System Structure	p. 585
Outlook	p. 587
References	p. 589
Index	p. 617
Table of Contents provided by Publisher. All Rights Reserved.

Mechatronic Systems

Fundamentals

At a Glance

Paperback

Industry Reviews

Shipping

How to return your order

Defective items

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