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Mechatronics: Fundamentals, Design, Integration, and Validation

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Mechatronics: Fundamentals, Design, Integration, and Validation

This book will be used for both undergraduate and graduate level mechatronic system courses. The intension is to cover contents ranging from mechatronic system modeling and control to specific mechatronic system hardware including sensor, actuator, and microcontroller. Two mechatronic system examples will be introduced as examples for the class lab sessions; they are mini-Segway and three-wheel cart mechatronic systems.

Introductory EngineeringEngineering
Author
Guoming Zhu
Publisher
Michigan State University
Source
LibreTexts
License
CC BY-NC
Language
EN
Read online Download PDF (open licence)
Contents· 94 sections
  1. 01: Introduction
  2. 1.00: Prelude
  3. 1.01: Introduction of Mechatronic Systems
  4. 1.02: Introduction of Mechatronic Systems
  5. 1.03: How to Use This Book
  6. 1.04: Chapter References
  7. 02: Mechatronic System Modeling
  8. 2.00: Prelude
  9. 2.01: Laplace Transforms
  10. 2.02: Mechanical System Modeling
  11. 2.03: Electrical and Electronic System Modeling
  12. 2.04: Mechatronic System Modeling
  13. 2.05: System Linearization
  14. 2.06: Introduction of Gray- and Black-Box Modeling Using System Identification and Machine Learning
  15. 2.07: Chapter References
  16. 03: System Responses and Controls
  17. 3.00: Prelude
  18. 3.01: Impulse Step and Sinusoidal Responses
  19. 3.02: System Stability and Its Performance Measures
  20. 3.03: The First and Second Order System Responses and Associated Pole Locations
  21. 3.04: PID Control and Its Gain Tuning Methods
  22. 3.05: Review of Model-Based Control Design and Gain Tuning Methods
  23. 3.06: Machine Learning-Based Control
  24. 3.07: Chapter References
  25. 04: Signal Processing
  26. 4.00: Prelude
  27. 4.01: Analog Signals and Their Frequency Analysis
  28. 4.02: Conversion between Analog and Digital Signals (A D and D A Conversions)
  29. 4.03: Digital Signals and Their Frequency Analysis
  30. 4.04: Analog and Digital Filter Design
  31. 4.05: Nyquist-Shannon Sample Theorem Sample Aliasing and Anti-Aliasing Filters
  32. 4.06: Pulse-Width and Frequency Modulated Signals
  33. 4.07: Advanced Analog and Digital Filter Design and Implementation
  34. 4.08: Chapter References
  35. 05: Mechatronic System Component- Actuators
  36. 5.00: Prelude
  37. 5.01: Mechatronic Actuator Background
  38. 5.02: Mechatronic Actuator Background
  39. 5.03: DC-Motor Drive Circuits
  40. 5.04: Discrete Electromagnetic Valve Actuation (EMVA)
  41. 5.05: Discrete Electrohydraulic Valve Actuation (EHVA)
  42. 5.06: Introduction of Permanent Magnetic Motor Principle Drive and Control
  43. 5.07: Chapter References
  44. 06: Mechatronic System Component- Sensors
  45. 6.00: Prelude
  46. 6.01: Mechatronic Sensor Background
  47. 6.02: Rotational Speed Sensors and Their Speed Calculation
  48. 6.03: Acceleration Sensors
  49. 6.04: Angular Velocity Sensors (Rate Gyro)
  50. 6.05: Sensor Fusion
  51. 6.06: MEMS-Based Integrated Acceleration and Angular Velocity Sensing
  52. 6.07: Temperature Pressure Flow Current and Voltage Sensing
  53. 6.08: Vision-Based Sensing
  54. 6.09: Chapter References
  55. 07: Mechatronic Control Systems
  56. 7.00: Prelude
  57. 7.01: Mechatronic System Architecture
  58. 7.02: Microcontrollers Used for Mechatronic Systems
  59. 7.03: Sample Microcontroller- Arduino MKR 1000 Wi-Fi
  60. 7.04: Mechatronic Control System Architecture- Speed Control Example
  61. 7.05: Iterative Mechatronic Control System Development and Validation Process- The V-Design Process
  62. 7.06: Chapter References
  63. 08: Mini-Segway System Mechatronic System Example I
  64. 8.00: Prelude
  65. 8.01: Mini-Segway System Modeling
  66. 8.02: Model-Free Dual-PID Mini-Segway Control System Architecture
  67. 8.03: Model-Based Mini-Segway Control
  68. 8.04: Model-Based Mini-Segway Control with Special Sample and Hold Input
  69. 8.05: Mini-Segway SiL Simulation Validation of a Dual-PID Controller
  70. 8.06: Mini-Segway SiL Simulation Validation of Model-Based Controllers
  71. 8.07: Experimental Study of the Mini-Segway Model-Free Control
  72. 8.08: Model-Based Control Experiments
  73. 8.09: Chapter References
  74. 09: Three-Wheel Cart - Mechatronic System Example 2
  75. 9.00: Prelude
  76. 9.01: Three-Wheel Cart System Modeling
  77. 9.02: Dual- and Triple-PID Control of a Three-Wheel Cart
  78. 9.03: Model-Based Control of a Three-Wheel Cart
  79. 9.04: Simulation Study of PID and Model-Based Control Strategies
  80. 9.05: Experimental Investigation of PID Control Strategies
  81. 9.06: Experimental Investigation of Model-Based Control Strategy
  82. 9.07: Chapter References
  83. 10: Appendix A - MATLAB and Simulink Software
  84. 11: Appendix B - Mechatronics Lab Sessions
  85. 11.00: MATLAB Simulink Installation
  86. 11.01: Simulation of the 1st and 2nd Order Systems in MATLAB Simulink
  87. 11.02: Analog and Digital Systems and Fast Fourier Transform (FFT)
  88. 11.03: Filter Design and Introduction to Arduino MKR 1000 Wi-Fi
  89. 11.04: DC-Motor Control Utilizing Arduino Hardware
  90. 11.05: Simulink GUI (Graphic User Interface) Design and Programming
  91. 11.06: Sensor Fusion vs. Single Sensor
  92. 11.07: PID Tuning for Mini-Segway Simulink Model
  93. 11.08: PID Tuning for Mini-Segway Hardware System
  94. 11.09: Mini-Segway Stabilization and Drive Project