- •1. INTRODUCTION
- •1.1 BASIC TERMINOLOGY
- •1.2 EXAMPLE SYSTEM
- •1.3 SUMMARY
- •1.4 PRACTICE PROBLEMS
- •2. TRANSLATION
- •2.1 INTRODUCTION
- •2.2 MODELING
- •2.2.1 Free Body Diagrams
- •2.2.2 Mass and Inertia
- •2.2.3 Gravity and Other Fields
- •2.2.4 Springs
- •2.2.5 Damping and Drag
- •2.2.6 Cables And Pulleys
- •2.2.7 Friction
- •2.2.8 Contact Points And Joints
- •2.3 SYSTEM EXAMPLES
- •2.4 OTHER TOPICS
- •2.5 SUMMARY
- •2.6 PRACTICE PROBLEMS
- •2.7 PRACTICE PROBLEM SOLUTIONS
- •2.8 ASSIGNMENT PROBLEMS
- •3. ANALYSIS OF DIFFERENTIAL EQUATIONS
- •3.1 INTRODUCTION
- •3.2 EXPLICIT SOLUTIONS
- •3.3 RESPONSES
- •3.3.1 First-order
- •3.3.2 Second-order
- •3.3.3 Other Responses
- •3.4 RESPONSE ANALYSIS
- •3.5 NON-LINEAR SYSTEMS
- •3.5.1 Non-Linear Differential Equations
- •3.5.2 Non-Linear Equation Terms
- •3.5.3 Changing Systems
- •3.6 CASE STUDY
- •3.7 SUMMARY
- •3.8 PRACTICE PROBLEMS
- •3.9 PRACTICE PROBLEM SOLUTIONS
- •3.10 ASSIGNMENT PROBLEMS
- •4. NUMERICAL ANALYSIS
- •4.1 INTRODUCTION
- •4.2 THE GENERAL METHOD
- •4.2.1 State Variable Form
- •4.3 NUMERICAL INTEGRATION
- •4.3.1 Numerical Integration With Tools
- •4.3.2 Numerical Integration
- •4.3.3 Taylor Series
- •4.3.4 Runge-Kutta Integration
- •4.4 SYSTEM RESPONSE
- •4.4.1 Steady-State Response
- •4.5 DIFFERENTIATION AND INTEGRATION OF EXPERIMENTAL DATA
- •4.6 ADVANCED TOPICS
- •4.6.1 Switching Functions
- •4.6.2 Interpolating Tabular Data
- •4.6.3 Modeling Functions with Splines
- •4.6.4 Non-Linear Elements
- •4.7 CASE STUDY
- •4.8 SUMMARY
- •4.9 PRACTICE PROBLEMS
- •4.10 PRACTICE PROBLEM SOLUTIONS
- •4.11 ASSIGNMENT PROBLEMS
- •5. ROTATION
- •5.1 INTRODUCTION
- •5.2 MODELING
- •5.2.1 Inertia
- •5.2.2 Springs
- •5.2.3 Damping
- •5.2.4 Levers
- •5.2.5 Gears and Belts
- •5.2.6 Friction
- •5.2.7 Permanent Magnet Electric Motors
- •5.3 OTHER TOPICS
- •5.4 DESIGN CASE
- •5.5 SUMMARY
- •5.6 PRACTICE PROBLEMS
- •5.7 PRACTICE PROBLEM SOLUTIONS
- •5.8 ASSIGNMENT PROBLEMS
- •6. INPUT-OUTPUT EQUATIONS
- •6.1 INTRODUCTION
- •6.2 THE DIFFERENTIAL OPERATOR
- •6.3 INPUT-OUTPUT EQUATIONS
- •6.3.1 Converting Input-Output Equations to State Equations
- •6.3.2 Integrating Input-Output Equations
- •6.4 DESIGN CASE
- •6.5 SUMMARY
- •6.6 PRACTICE PROBLEMS
- •6.7 PRACTICE PROBLEM SOLUTIONS
- •6.8 ASSGINMENT PROBLEMS
- •6.9 REFERENCES
- •7. ELECTRICAL SYSTEMS
- •7.1 INTRODUCTION
- •7.2 MODELING
- •7.2.1 Resistors
- •7.2.2 Voltage and Current Sources
- •7.2.3 Capacitors
- •7.2.4 Inductors
- •7.2.5 Op-Amps
- •7.3 IMPEDANCE
- •7.4 EXAMPLE SYSTEMS
- •7.5 ELECTROMECHANICAL SYSTEMS - MOTORS
- •7.5.1 Permanent Magnet DC Motors
- •7.5.2 Induction Motors
- •7.5.3 Brushless Servo Motors
- •7.6 FILTERS
- •7.7 OTHER TOPICS
- •7.8 SUMMARY
- •7.9 PRACTICE PROBLEMS
- •7.10 PRACTICE PROBLEM SOLUTIONS
- •7.11 ASSIGNMENT PROBLEMS
- •8. FEEDBACK CONTROL SYSTEMS
- •8.1 INTRODUCTION
- •8.2 TRANSFER FUNCTIONS
- •8.3 CONTROL SYSTEMS
- •8.3.1 PID Control Systems
- •8.3.2 Manipulating Block Diagrams
- •8.3.3 A Motor Control System Example
- •8.3.4 System Error
- •8.3.5 Controller Transfer Functions
- •8.3.6 Feedforward Controllers
- •8.3.7 State Equation Based Systems
- •8.3.8 Cascade Controllers
- •8.4 SUMMARY
- •8.5 PRACTICE PROBLEMS
- •8.6 PRACTICE PROBLEM SOLUTIONS
- •8.7 ASSIGNMENT PROBLEMS
- •9. PHASOR ANALYSIS
- •9.1 INTRODUCTION
- •9.2 PHASORS FOR STEADY-STATE ANALYSIS
- •9.3 VIBRATIONS
- •9.4 SUMMARY
- •9.5 PRACTICE PROBLEMS
- •9.6 PRACTICE PROBLEM SOLUTIONS
- •9.7 ASSIGNMENT PROBLEMS
- •10. BODE PLOTS
- •10.1 INTRODUCTION
- •10.2 BODE PLOTS
- •10.3 SIGNAL SPECTRUMS
- •10.4 SUMMARY
- •10.5 PRACTICE PROBLEMS
- •10.6 PRACTICE PROBLEM SOLUTIONS
- •10.7 ASSIGNMENT PROBLEMS
- •10.8 LOG SCALE GRAPH PAPER
- •11. ROOT LOCUS ANALYSIS
- •11.1 INTRODUCTION
- •11.2 ROOT-LOCUS ANALYSIS
- •11.3 SUMMARY
- •11.4 PRACTICE PROBLEMS
- •11.5 PRACTICE PROBLEM SOLUTIONS
- •11.6 ASSIGNMENT PROBLEMS
- •12. NONLINEAR SYSTEMS
- •12.1 INTRODUCTION
- •12.2 SOURCES OF NONLINEARITY
- •12.3.1 Time Variant
- •12.3.2 Switching
- •12.3.3 Deadband
- •12.3.4 Saturation and Clipping
- •12.3.5 Hysteresis and Slip
- •12.3.6 Delays and Lags
- •12.4 SUMMARY
- •12.5 PRACTICE PROBLEMS
- •12.6 PRACTICE PROBLEM SOLUTIONS
- •12.7 ASIGNMENT PROBLEMS
- •13. ANALOG INPUTS AND OUTPUTS
- •13.1 INTRODUCTION
- •13.2 ANALOG INPUTS
- •13.3 ANALOG OUTPUTS
- •13.4 NOISE REDUCTION
- •13.4.1 Shielding
- •13.4.2 Grounding
- •13.5 CASE STUDY
- •13.6 SUMMARY
- •13.7 PRACTICE PROBLEMS
- •13.8 PRACTICE PROBLEM SOLUTIONS
- •13.9 ASSIGNMENT PROBLEMS
- •14. CONTINUOUS SENSORS
- •14.1 INTRODUCTION
- •14.2 INDUSTRIAL SENSORS
- •14.2.1 Angular Displacement
- •14.2.1.1 - Potentiometers
- •14.2.2 Encoders
- •14.2.2.1 - Tachometers
- •14.2.3 Linear Position
- •14.2.3.1 - Potentiometers
- •14.2.3.2 - Linear Variable Differential Transformers (LVDT)
- •14.2.3.3 - Moire Fringes
- •14.2.3.4 - Accelerometers
- •14.2.4 Forces and Moments
- •14.2.4.1 - Strain Gages
- •14.2.4.2 - Piezoelectric
- •14.2.5 Liquids and Gases
- •14.2.5.1 - Pressure
- •14.2.5.2 - Venturi Valves
- •14.2.5.3 - Coriolis Flow Meter
- •14.2.5.4 - Magnetic Flow Meter
- •14.2.5.5 - Ultrasonic Flow Meter
- •14.2.5.6 - Vortex Flow Meter
- •14.2.5.7 - Positive Displacement Meters
- •14.2.5.8 - Pitot Tubes
- •14.2.6 Temperature
- •14.2.6.1 - Resistive Temperature Detectors (RTDs)
- •14.2.6.2 - Thermocouples
- •14.2.6.3 - Thermistors
- •14.2.6.4 - Other Sensors
- •14.2.7 Light
- •14.2.7.1 - Light Dependant Resistors (LDR)
- •14.2.8 Chemical
- •14.2.8.2 - Conductivity
- •14.2.9 Others
- •14.3 INPUT ISSUES
- •14.4 SENSOR GLOSSARY
- •14.5 SUMMARY
- •14.6 REFERENCES
- •14.7 PRACTICE PROBLEMS
- •14.8 PRACTICE PROBLEM SOLUTIONS
- •14.9 ASSIGNMENT PROBLEMS
- •15. CONTINUOUS ACTUATORS
- •15.1 INTRODUCTION
- •15.2 ELECTRIC MOTORS
- •15.2.1 Basic Brushed DC Motors
- •15.2.2 AC Motors
- •15.2.3 Brushless DC Motors
- •15.2.4 Stepper Motors
- •15.2.5 Wound Field Motors
- •15.3 HYDRAULICS
- •15.4 OTHER SYSTEMS
- •15.5 SUMMARY
- •15.6 PRACTICE PROBLEMS
- •15.7 PRACTICE PROBLEM SOLUTIONS
- •15.8 ASSIGNMENT PROBLEMS
- •16. MOTION CONTROL
- •16.1 INTRODUCTION
- •16.2 MOTION PROFILES
- •16.2.1 Velocity Profiles
- •16.2.2 Position Profiles
- •16.3 MULTI AXIS MOTION
- •16.3.1 Slew Motion
- •16.3.1.1 - Interpolated Motion
- •16.3.2 Motion Scheduling
- •16.4 PATH PLANNING
- •16.5 CASE STUDIES
- •16.6 SUMMARY
- •16.7 PRACTICE PROBLEMS
- •16.8 PRACTICE PROBLEM SOLUTIONS
- •16.9 ASSIGNMENT PROBLEMS
- •17. LAPLACE TRANSFORMS
- •17.1 INTRODUCTION
- •17.2 APPLYING LAPLACE TRANSFORMS
- •17.2.1 A Few Transform Tables
- •17.3 MODELING TRANSFER FUNCTIONS IN THE s-DOMAIN
- •17.4 FINDING OUTPUT EQUATIONS
- •17.5 INVERSE TRANSFORMS AND PARTIAL FRACTIONS
- •17.6 EXAMPLES
- •17.6.2 Circuits
- •17.7 ADVANCED TOPICS
- •17.7.1 Input Functions
- •17.7.2 Initial and Final Value Theorems
- •17.8 A MAP OF TECHNIQUES FOR LAPLACE ANALYSIS
- •17.9 SUMMARY
- •17.10 PRACTICE PROBLEMS
- •17.11 PRACTICE PROBLEM SOLUTIONS
- •17.12 ASSIGNMENT PROBLEMS
- •17.13 REFERENCES
- •18. CONTROL SYSTEM ANALYSIS
- •18.1 INTRODUCTION
- •18.2 CONTROL SYSTEMS
- •18.2.1 PID Control Systems
- •18.2.2 Analysis of PID Controlled Systems With Laplace Transforms
- •18.2.3 Finding The System Response To An Input
- •18.2.4 Controller Transfer Functions
- •18.3.1 Approximate Plotting Techniques
- •18.4 DESIGN OF CONTINUOUS CONTROLLERS
- •18.5 SUMMARY
- •18.6 PRACTICE PROBLEMS
- •18.7 PRACTICE PROBLEM SOLUTIONS
- •18.8 ASSIGNMENT PROBLEMS
- •19. CONVOLUTION
- •19.1 INTRODUCTION
- •19.2 UNIT IMPULSE FUNCTIONS
- •19.3 IMPULSE RESPONSE
- •19.4 CONVOLUTION
- •19.5 NUMERICAL CONVOLUTION
- •19.6 LAPLACE IMPULSE FUNCTIONS
- •19.7 SUMMARY
- •19.8 PRACTICE PROBLEMS
- •19.9 PRACTICE PROBLEM SOLUTIONS
- •19.10 ASSIGNMENT PROBLEMS
- •20. STATE SPACE ANALYSIS
- •20.1 INTRODUCTION
- •20.2 OBSERVABILITY
- •20.3 CONTROLLABILITY
- •20.4 OBSERVERS
- •20.5 SUMMARY
- •20.6 PRACTICE PROBLEMS
- •20.7 PRACTICE PROBLEM SOLUTIONS
- •20.8 ASSIGNMENT PROBLEMS
- •20.9 BIBLIOGRAPHY
- •21. STATE SPACE CONTROLLERS
- •21.1 INTRODUCTION
- •21.2 FULL STATE FEEDBACK
- •21.3 OBSERVERS
- •21.4 SUPPLEMENTAL OBSERVERS
- •21.5 REGULATED CONTROL WITH OBSERVERS
- •21.7 LINEAR QUADRATIC GAUSSIAN (LQG) COMPENSATORS
- •21.8 VERIFYING CONTROL SYSTEM STABILITY
- •21.8.1 Stability
- •21.8.2 Bounded Gain
- •21.9 ADAPTIVE CONTROLLERS
- •21.10 OTHER METHODS
- •21.10.1 Kalman Filtering
- •21.11 SUMMARY
- •21.12 PRACTICE PROBLEMS
- •21.13 PRACTICE PROBLEM SOLUTIONS
- •21.14 ASSIGNMENT PROBLEMS
- •22. SYSTEM IDENTIFICATION
- •22.1 INTRODUCTION
- •22.2 SUMMARY
- •22.3 PRACTICE PROBLEMS
- •22.4 PRACTICE PROBLEM SOLUTIONS
- •22.5 ASSIGNMENT PROBLEMS
- •23. ELECTROMECHANICAL SYSTEMS
- •23.1 INTRODUCTION
- •23.2 MATHEMATICAL PROPERTIES
- •23.2.1 Induction
- •23.3 EXAMPLE SYSTEMS
- •23.4 SUMMARY
- •23.5 PRACTICE PROBLEMS
- •23.6 PRACTICE PROBLEM SOLUTIONS
- •23.7 ASSIGNMENT PROBLEMS
- •24. FLUID SYSTEMS
- •24.1 SUMMARY
- •24.2 MATHEMATICAL PROPERTIES
- •24.2.1 Resistance
- •24.2.2 Capacitance
- •24.2.3 Power Sources
- •24.3 EXAMPLE SYSTEMS
- •24.4 SUMMARY
- •24.5 PRACTICE PROBLEMS
- •24.6 PRACTICE PROBLEMS SOLUTIONS
- •24.7 ASSIGNMENT PROBLEMS
- •25. THERMAL SYSTEMS
- •25.1 INTRODUCTION
- •25.2 MATHEMATICAL PROPERTIES
- •25.2.1 Resistance
- •25.2.2 Capacitance
- •25.2.3 Sources
- •25.3 EXAMPLE SYSTEMS
- •25.4 SUMMARY
- •25.5 PRACTICE PROBLEMS
- •25.6 PRACTICE PROBLEM SOLUTIONS
- •25.7 ASSIGNMENT PROBLEMS
- •26. OPTIMIZATION
- •26.1 INTRODUCTION
- •26.2 OBJECTIVES AND CONSTRAINTS
- •26.3 SEARCHING FOR THE OPTIMUM
- •26.4 OPTIMIZATION ALGORITHMS
- •26.4.1 Random Walk
- •26.4.2 Gradient Decent
- •26.4.3 Simplex
- •26.5 SUMMARY
- •26.6 PRACTICE PROBLEMS
- •26.7 PRACTICE PROBLEM SOLUTIONS
- •26.8 ASSIGNMENT PROBLEMS
- •27. FINITE ELEMENT ANALYSIS (FEA)
- •27.1 INTRODUCTION
- •27.2 FINITE ELEMENT MODELS
- •27.3 FINITE ELEMENT MODELS
- •27.4 SUMMARY
- •27.5 PRACTICE PROBLEMS
- •27.6 PRACTICE PROBLEM SOLUTIONS
- •27.7 ASSIGNMENT PROBLEMS
- •27.8 BIBLIOGRAPHY
- •28. FUZZY LOGIC
- •28.1 INTRODUCTION
- •28.2 COMMERCIAL CONTROLLERS
- •28.3 REFERENCES
- •28.4 SUMMARY
- •28.5 PRACTICE PROBLEMS
- •28.6 PRACTICE PROBLEM SOLUTIONS
- •28.7 ASSIGNMENT PROBLEMS
- •29. NEURAL NETWORKS
- •29.1 SUMMARY
- •29.2 PRACTICE PROBLEMS
- •29.3 PRACTICE PROBLEM SOLUTIONS
- •29.4 ASSIGNMENT PROBLEMS
- •29.5 REFERENCES
- •30. EMBEDDED CONTROL SYSTEM
- •30.1 INTRODUCTION
- •30.2 CASE STUDY
- •30.3 SUMMARY
- •30.4 PRACTICE PROBLEMS
- •30.5 PRACTICE PROBLEM SOLUTIONS
- •30.6 ASSIGNMENT PROBLEMS
- •31. WRITING
- •31.1 FORGET WHAT YOU WERE TAUGHT BEFORE
- •31.2 WHY WRITE REPORTS?
- •31.3 THE TECHNICAL DEPTH OF THE REPORT
- •31.4 TYPES OF REPORTS
- •31.5 LABORATORY REPORTS
- •31.5.0.1 - An Example First Draft of a Report
- •31.5.0.2 - An Example Final Draft of a Report
- •31.6 RESEARCH
- •31.7 DRAFT REPORTS
- •31.8 PROJECT REPORT
- •31.9 OTHER REPORT TYPES
- •31.9.1 Executive
- •31.9.2 Consulting
- •31.9.3 Memo(randum)
- •31.9.4 Interim
- •31.9.5 Poster
- •31.9.6 Progress Report
- •31.9.7 Oral
- •31.9.8 Patent
- •31.10 LAB BOOKS
- •31.11 REPORT ELEMENTS
- •31.11.1 Figures
- •31.11.2 Graphs
- •31.11.3 Tables
- •31.11.4 Equations
- •31.11.5 Experimental Data
- •31.11.6 Result Summary
- •31.11.7 References
- •31.11.8 Acknowledgments
- •31.11.9 Abstracts
- •31.11.10 Appendices
- •31.11.11 Page Numbering
- •31.11.12 Numbers and Units
- •31.11.13 Engineering Drawings
- •31.11.14 Discussions
- •31.11.15 Conclusions
- •31.11.16 Recomendations
- •31.11.17 Appendices
- •31.11.18 Units
- •31.12 GENERAL WRITING ISSUES
- •31.13 WRITERS BLOCK
- •31.14 TECHNICAL ENGLISH
- •31.15 EVALUATION FORMS
- •31.16 PATENTS
- •32. PROJECTS
- •32.2 OVERVIEW
- •32.2.1 The Objectives and Constraints
- •32.3 MANAGEMENT
- •32.3.1 Timeline - Tentative
- •32.3.2 Teams
- •32.4 DELIVERABLES
- •32.4.1 Conceptual Design
- •32.4.2 EGR 345/101 Contract
- •32.4.3 Progress Reports
- •32.4.4 Design Proposal
- •32.4.5 The Final Report
- •32.5 REPORT ELEMENTS
- •32.5.1 Gantt Charts
- •32.5.2 Drawings
- •32.5.3 Budgets and Bills of Material
- •32.5.4 Calculations
- •32.6 APPENDICES
- •32.6.1 Appendix A - Sample System
- •32.6.2 Appendix B - EGR 345/101 Contract
- •32.6.3 Appendix C - Forms
- •33. ENGINEERING PROBLEM SOLVING
- •33.1 BASIC RULES OF STYLE
- •33.2 EXPECTED ELEMENTS
- •33.3 SEPCIAL ELEMENTS
- •33.3.1 Graphs
- •33.3.2 EGR 345 Specific
- •33.4 SCILAB
- •33.5 TERMINOLOGY
- •34. MATHEMATICAL TOOLS
- •34.1 INTRODUCTION
- •34.1.1 Constants and Other Stuff
- •34.1.2 Basic Operations
- •34.1.2.1 - Factorial
- •34.1.3 Exponents and Logarithms
- •34.1.4 Polynomial Expansions
- •34.1.5 Practice Problems
- •34.2 FUNCTIONS
- •34.2.1 Discrete and Continuous Probability Distributions
- •34.2.2 Basic Polynomials
- •34.2.3 Partial Fractions
- •34.2.4 Summation and Series
- •34.2.5 Practice Problems
- •34.3 SPATIAL RELATIONSHIPS
- •34.3.1 Trigonometry
- •34.3.2 Hyperbolic Functions
- •34.3.2.1 - Practice Problems
- •34.3.3 Geometry
- •34.3.4 Planes, Lines, etc.
- •34.3.5 Practice Problems
- •34.4 COORDINATE SYSTEMS
- •34.4.1 Complex Numbers
- •34.4.2 Cylindrical Coordinates
- •34.4.3 Spherical Coordinates
- •34.4.4 Practice Problems
- •34.5 MATRICES AND VECTORS
- •34.5.1 Vectors
- •34.5.2 Dot (Scalar) Product
- •34.5.3 Cross Product
- •34.5.4 Triple Product
- •34.5.5 Matrices
- •34.5.6 Solving Linear Equations with Matrices
- •34.5.7 Practice Problems
- •34.6 CALCULUS
- •34.6.1 Single Variable Functions
- •34.6.1.1 - Differentiation
- •34.6.1.2 - Integration
- •34.6.2 Vector Calculus
- •34.6.3 Differential Equations
- •34.6.3.1.1 - Guessing
- •34.6.3.1.2 - Separable Equations
- •34.6.3.1.3 - Homogeneous Equations and Substitution
- •34.6.3.2.1 - Linear Homogeneous
- •34.6.3.2.2 - Nonhomogeneous Linear Equations
- •34.6.3.3 - Higher Order Differential Equations
- •34.6.3.4 - Partial Differential Equations
- •34.6.4 Other Calculus Stuff
- •34.6.5 Practice Problems
- •34.7 NUMERICAL METHODS
- •34.7.1 Approximation of Integrals and Derivatives from Sampled Data
- •34.7.3 Taylor Series Integration
- •34.8 LAPLACE TRANSFORMS
- •34.8.1 Laplace Transform Tables
- •34.9 z-TRANSFORMS
- •34.10 FOURIER SERIES
- •34.11 TOPICS NOT COVERED (YET)
- •34.12 REFERENCES/BIBLIOGRAPHY
- •35. A BASIC INTRODUCTION TO ‘C’
- •35.2 BACKGROUND
- •35.3 PROGRAM PARTS
- •35.4 HOW A ‘C’ COMPILER WORKS
- •35.5 STRUCTURED ‘C’ CODE
- •35.7 CREATING TOP DOWN PROGRAMS
- •35.8 HOW THE BEAMCAD PROGRAM WAS DESIGNED
- •35.8.1 Objectives:
- •35.8.2 Problem Definition:
- •35.8.3 User Interface:
- •35.8.3.1 - Screen Layout (also see figure):
- •35.8.3.2 - Input:
- •35.8.3.3 - Output:
- •35.8.3.4 - Help:
- •35.8.3.5 - Error Checking:
- •35.8.3.6 - Miscellaneous:
- •35.8.4 Flow Program:
- •35.8.5 Expand Program:
- •35.8.6 Testing and Debugging:
- •35.8.7 Documentation
- •35.8.7.1 - Users Manual:
- •35.8.7.2 - Programmers Manual:
- •35.8.8 Listing of BeamCAD Program.
- •35.9 PRACTICE PROBLEMS
- •36. UNITS AND CONVERSIONS
- •36.1 HOW TO USE UNITS
- •36.2 HOW TO USE SI UNITS
- •36.3 THE TABLE
- •36.4 ASCII, HEX, BINARY CONVERSION
- •36.5 G-CODES
- •37. ATOMIC MATERIAL DATA
- •37. MECHANICAL MATERIAL PROPERTIES
- •37.1 FORMULA SHEET
- •38. BIBLIOGRAPHY
- •38.1 TEXTBOOKS
- •38.1.1 Slotine and Li
- •38.1.2 VandeVegte
- •39. TOPICS IN DEVELOPMENT
- •39.1 UPDATED DC MOTOR MODEL
- •39.2 ANOTHER DC MOTOR MODEL
- •39.3 BLOCK DIAGRAMS AND UNITS
- •39.4 SIGNAL FLOW GRAPHS
- •39.5 ZERO ORDER HOLD
- •39.6 TORSIONAL DAMPERS
- •39.7 MISC
- •39.8 Nyquist Plot
- •39.9 NICHOLS CHART
- •39.10 BESSEL POLYNOMIALS
- •39.11 ITAE
- •39.12 ROOT LOCUS
- •39.13 LYAPUNOV’S LINEARIZATION METHOD
- •39.14 XXXXX
- •39.15 XXXXX
- •39.16 XXXXX
- •39.17 XXXXX
- •39.18 XXXXX
- •39.19 XXXXX
- •39.20 XXXXX
- •39.21 SUMMARY
- •39.22 PRACTICE PROBLEMS
- •39.23 PRACTICE PROBLEM SOLUTIONS
- •39.24 ASSGINMENT PROBLEMS
- •39.25 REFERENCES
- •39.26 BIBLIOGRAPHY
Copyright © 1993-2001, Hugh Jack
page 1
Dynamic System Modeling
and Control
by
Hugh Jack
(Draft Version 2.6, December 20, 2004)
© Copyright 1993-2004 Hugh Jack
page 1
PREFACE
How to use the book.
•read the chapters and do drill problems as you read
•examine the case studies - these pull together concepts from previous chapters
•problems at the ends of chapters are provided for further practice
Tools that should be used include,
•graphing calculator that can solve differential equations, such as a TI-85
•computer algebra software that can solve differential equations, such as Scilab
Supplemental materials at the end of this book include,
•a writing guide
•a summary of math topics important for engineers
•a table of generally useful engineering units
•properties of common materials
Acknowledgement to,
Dr. Hal Larson for reviewing the calculus and numerical methods chapters Dr. Wendy Reffeor for reviewing the translation chapter
Student background
a basic circuits course
a basic statics and mechanics of materials course math up to differential equations
a general knowledge of physics computer programming, preferably in ’C’
Special notes
- despite all common wisdom, inertia is presented as a force, this makes it easier for students attempting to learn, and keep sign conventions correct
TO BE DONE
small
italicize variables and important terms
fix equation numbering (auto-numbering?) fix subscripts and superscripts
fix problem forms to include therefores, mark FBDs, etc. check C programs for ANSI compliance
big
verify the phase angle relationships cos vs/ sin.
page 2
chapter rotation
replace the rotational case with IC motor chapter non-linear systems
develop chapter chapter magnetic
consider adding/writing this chapter chapter fluids
consider adding/writing this chapter chapter thermal
consider adding/writing this chapter chapter c programming
review section add problems
Buzzword topics:
-Distributed systems
-Intelligent manufacturing systems
-Adaptive control
-Architectures for signal processing and control algorithms
-Discrete event systems
-Hybrid systems
-Predictive control
-Robust control
page 1
1.INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1
1.1 |
BASIC TERMINOLOGY |
1.1 |
1.2 |
EXAMPLE SYSTEM |
1.3 |
1.3 |
SUMMARY |
1.3 |
1.4 |
PRACTICE PROBLEMS |
1.3 |
2.TRANSLATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1
2.1 |
INTRODUCTION |
2.1 |
|
2.2 |
MODELING |
2.3 |
|
|
2.2.1 |
Free Body Diagrams |
2.4 |
|
2.2.2 |
Mass and Inertia |
2.4 |
|
2.2.3 |
Gravity and Other Fields |
2.8 |
|
2.2.4 |
Springs |
2.10 |
|
2.2.5 |
Damping and Drag |
2.18 |
|
2.2.6 |
Cables And Pulleys |
2.21 |
|
2.2.7 |
Friction |
2.23 |
|
2.2.8 |
Contact Points And Joints |
2.25 |
2.3 |
SYSTEM EXAMPLES |
2.25 |
|
2.4 |
OTHER TOPICS |
2.35 |
|
2.5 |
SUMMARY |
2.36 |
|
2.6 |
PRACTICE PROBLEMS |
2.36 |
|
2.7 |
PRACTICE PROBLEM SOLUTIONS |
2.41 |
|
2.8 |
ASSIGNMENT PROBLEMS |
2.45 |
|
3.ANALYSIS OF DIFFERENTIAL EQUATIONS . . . . . . . . . . . . 3.1
3.1 |
INTRODUCTION |
3.1 |
|
3.2 |
EXPLICIT SOLUTIONS |
3.2 |
|
3.3 |
RESPONSES |
3.16 |
|
|
3.3.1 |
First-order |
3.17 |
|
3.3.2 |
Second-order |
3.23 |
|
3.3.3 |
Other Responses |
3.28 |
3.4 |
RESPONSE ANALYSIS |
3.31 |
|
3.5 |
NON-LINEAR SYSTEMS |
3.33 |
|
|
3.5.1 |
Non-Linear Differential Equations |
3.34 |
|
3.5.2 |
Non-Linear Equation Terms |
3.38 |
|
3.5.3 |
Changing Systems |
3.41 |
3.6 |
CASE STUDY |
3.47 |
|
3.7 |
SUMMARY |
3.51 |
|
3.8 |
PRACTICE PROBLEMS |
3.51 |
|
3.9 |
PRACTICE PROBLEM SOLUTIONS |
3.56 |
|
3.10 |
ASSIGNMENT PROBLEMS |
3.61 |
|
4. |
NUMERICAL ANALYSIS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
4.1 |
|
|
page 2 |
|
4.1 |
INTRODUCTION |
4.1 |
|
4.2 |
THE GENERAL METHOD |
4.1 |
|
|
4.2.1 |
State Variable Form |
4.2 |
4.3 |
NUMERICAL INTEGRATION |
4.10 |
|
|
4.3.1 |
Numerical Integration With Tools |
4.10 |
|
4.3.2 |
Numerical Integration |
4.15 |
|
4.3.3 |
Taylor Series |
4.21 |
|
4.3.4 |
Runge-Kutta Integration |
4.23 |
4.4 |
SYSTEM RESPONSE |
4.29 |
|
|
4.4.1 |
Steady-State Response |
4.30 |
4.5DIFFERENTIATION AND INTEGRATION OF EXPERIMENTAL
DATA 4.31 |
|
|
|
4.6 |
ADVANCED TOPICS |
4.33 |
|
|
4.6.1 |
Switching Functions |
4.33 |
|
4.6.2 |
Interpolating Tabular Data |
4.36 |
|
4.6.3 |
Modeling Functions with Splines |
4.37 |
|
4.6.4 |
Non-Linear Elements |
4.39 |
4.7 |
CASE STUDY |
4.39 |
|
4.8 |
SUMMARY |
4.46 |
|
4.9 |
PRACTICE PROBLEMS |
4.47 |
|
4.10 |
PRACTICE PROBLEM SOLUTIONS |
4.50 |
|
4.11 |
ASSIGNMENT PROBLEMS |
4.60 |
|
5.ROTATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1
5.1 |
INTRODUCTION |
5.1 |
|
5.2 |
MODELING |
5.2 |
|
|
5.2.1 |
Inertia |
5.3 |
|
5.2.2 |
Springs |
5.7 |
|
5.2.3 |
Damping |
5.12 |
|
5.2.4 |
Levers |
5.14 |
|
5.2.5 |
Gears and Belts |
5.15 |
|
5.2.6 |
Friction |
5.19 |
|
5.2.7 |
Permanent Magnet Electric Motors |
5.22 |
5.3 |
OTHER TOPICS |
5.23 |
|
5.4 |
DESIGN CASE |
5.23 |
|
5.5 |
SUMMARY |
5.28 |
|
5.6 |
PRACTICE PROBLEMS |
5.28 |
|
5.7 |
PRACTICE PROBLEM SOLUTIONS |
5.35 |
|
5.8 |
ASSIGNMENT PROBLEMS |
5.44 |
|
6.INPUT-OUTPUT EQUATIONS . . . . . . . . . . . . . . . . . . . . . . . . . 6.1
6.1 |
INTRODUCTION |
6.1 |
6.2 |
THE DIFFERENTIAL OPERATOR |
6.1 |
6.3 |
INPUT-OUTPUT EQUATIONS |
6.4 |
|
|
page 3 |
|
|
6.3.1 |
Converting Input-Output Equations to State Equations |
6.6 |
|
6.3.2 |
Integrating Input-Output Equations |
6.9 |
6.4 |
DESIGN CASE |
6.11 |
|
6.5 |
SUMMARY |
6.20 |
|
6.6 |
PRACTICE PROBLEMS |
6.20 |
|
6.7 |
PRACTICE PROBLEM SOLUTIONS |
6.22 |
|
6.8 |
ASSGINMENT PROBLEMS |
6.26 |
|
6.9 |
REFERENCES |
6.27 |
|
7.ELECTRICAL SYSTEMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1
7.1 |
INTRODUCTION |
7.1 |
|
7.2 |
MODELING |
7.1 |
|
|
7.2.1 |
Resistors |
7.2 |
|
7.2.2 |
Voltage and Current Sources |
7.4 |
|
7.2.3 |
Capacitors |
7.8 |
|
7.2.4 |
Inductors |
7.10 |
|
7.2.5 |
Op-Amps |
7.11 |
7.3 |
IMPEDANCE |
7.16 |
|
7.4 |
EXAMPLE SYSTEMS |
7.18 |
|
7.5 |
ELECTROMECHANICAL SYSTEMS - MOTORS |
7.26 |
|
|
7.5.1 |
Permanent Magnet DC Motors |
7.26 |
|
7.5.2 |
Induction Motors |
7.28 |
|
7.5.3 |
Brushless Servo Motors |
7.29 |
7.6 |
FILTERS |
7.32 |
|
7.7 |
OTHER TOPICS |
7.33 |
|
7.8 |
SUMMARY |
7.33 |
|
7.9 |
PRACTICE PROBLEMS |
7.34 |
|
7.10 |
PRACTICE PROBLEM SOLUTIONS |
7.38 |
|
7.11 |
ASSIGNMENT PROBLEMS |
7.43 |
|
8.FEEDBACK CONTROL SYSTEMS . . . . . . . . . . . . . . . . . . . . . . 8.1
8.1 |
INTRODUCTION |
8.1 |
|
8.2 |
TRANSFER FUNCTIONS |
8.1 |
|
8.3 |
CONTROL SYSTEMS |
8.3 |
|
|
8.3.1 |
PID Control Systems |
8.5 |
|
8.3.2 |
Manipulating Block Diagrams |
8.7 |
|
8.3.3 |
A Motor Control System Example |
8.12 |
|
8.3.4 |
System Error |
8.17 |
|
8.3.5 |
Controller Transfer Functions |
8.21 |
|
8.3.6 |
Feedforward Controllers |
8.21 |
|
8.3.7 |
State Equation Based Systems |
8.22 |
|
8.3.8 |
Cascade Controllers |
8.24 |
8.4 |
SUMMARY |
8.24 |
|
8.5 |
PRACTICE PROBLEMS |
8.24 |
|
|
|
|
page 4 |
|
|
8.6 |
PRACTICE PROBLEM SOLUTIONS |
8.31 |
|
|
8.7 |
ASSIGNMENT PROBLEMS |
8.37 |
|
9. |
PHASOR ANALYSIS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
. 9.1 |
||
|
9.1 |
INTRODUCTION |
9.1 |
|
|
9.2 |
PHASORS FOR STEADY-STATE ANALYSIS |
9.1 |
|
|
9.3 |
VIBRATIONS |
9.8 |
|
|
9.4 |
SUMMARY |
9.10 |
|
|
9.5 |
PRACTICE PROBLEMS |
9.10 |
|
|
9.6 |
PRACTICE PROBLEM SOLUTIONS |
9.12 |
|
|
9.7 |
ASSIGNMENT PROBLEMS |
9.14 |
|
10. |
BODE PLOTS |
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
10.1 |
|
|
10.1 |
INTRODUCTION |
10.1 |
|
|
10.2 |
BODE PLOTS |
10.5 |
|
|
10.3 |
SIGNAL SPECTRUMS |
10.21 |
|
|
10.4 |
SUMMARY |
10.22 |
|
|
10.5 |
PRACTICE PROBLEMS |
10.22 |
|
|
10.6 |
PRACTICE PROBLEM SOLUTIONS |
10.25 |
|
|
10.7 |
ASSIGNMENT PROBLEMS |
10.35 |
|
|
10.8 |
LOG SCALE GRAPH PAPER |
10.36 |
|
11. |
ROOT LOCUS ANALYSIS . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
11.1 |
||
|
11.1 |
INTRODUCTION |
11.1 |
|
|
11.2 |
ROOT-LOCUS ANALYSIS |
11.1 |
|
|
11.3 |
SUMMARY |
11.10 |
|
|
11.4 |
PRACTICE PROBLEMS |
11.11 |
|
|
11.5 |
PRACTICE PROBLEM SOLUTIONS |
11.14 |
|
|
11.6 |
ASSIGNMENT PROBLEMS |
11.25 |
|
12. |
NONLINEAR SYSTEMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
12.1 |
||
|
12.1 |
INTRODUCTION |
12.1 |
|
|
12.2 |
SOURCES OF NONLINEARITY |
12.1 |
|
|
|
12.2.1 |
Non-Linear Relationships |
12.1 |
|
12.3 |
NON-LINEAR ELEMENTS |
12.2 |
|
|
|
12.3.1 |
Time Variant |
12.3 |
|
|
12.3.2 |
Switching |
12.3 |
|
|
12.3.3 |
Deadband |
12.4 |
|
|
12.3.4 |
Saturation and Clipping |
12.7 |
|
|
12.3.5 |
Hysteresis and Slip |
12.7 |
|
|
12.3.6 |
Delays and Lags |
12.8 |
|
12.4 |
SUMMARY |
12.9 |
|
|
12.5 |
PRACTICE PROBLEMS |
12.9 |
|
|
page 5 |
|
12.6 |
PRACTICE PROBLEM SOLUTIONS |
12.9 |
12.7 |
ASIGNMENT PROBLEMS |
12.9 |
13.ANALOG INPUTS AND OUTPUTS . . . . . . . . . . . . . . . . . . . . 13.1
13.1 |
INTRODUCTION |
13.1 |
|
13.2 |
ANALOG INPUTS |
13.3 |
|
13.3 |
ANALOG OUTPUTS |
13.10 |
|
13.4 |
NOISE REDUCTION |
13.12 |
|
|
13.4.1 |
Shielding |
13.12 |
|
13.4.2 |
Grounding |
13.14 |
13.5 |
CASE STUDY |
13.15 |
|
13.6 |
SUMMARY |
13.15 |
|
13.7 |
PRACTICE PROBLEMS |
13.15 |
|
13.8 |
PRACTICE PROBLEM SOLUTIONS |
13.15 |
|
13.9 |
ASSIGNMENT PROBLEMS |
13.16 |
|
14.CONTINUOUS SENSORS . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.1
14.1 |
INTRODUCTION |
14.1 |
|
14.2 |
INDUSTRIAL SENSORS |
14.2 |
|
|
14.2.1 |
Angular Displacement |
14.3 |
|
|
Potentiometers |
14.3 |
|
14.2.2 |
Encoders |
14.4 |
|
|
Tachometers |
14.8 |
|
14.2.3 |
Linear Position |
14.8 |
|
|
Potentiometers |
14.8 |
|
|
Linear Variable Differential Transformers (LVDT)14.9 |
|
|
|
Moire Fringes |
14.11 |
|
|
Accelerometers |
14.12 |
|
14.2.4 |
Forces and Moments |
14.15 |
|
|
Strain Gages |
14.15 |
|
|
Piezoelectric |
14.18 |
|
14.2.5 |
Liquids and Gases |
14.20 |
|
|
Pressure |
14.21 |
|
|
Venturi Valves |
14.22 |
|
|
Coriolis Flow Meter |
14.23 |
|
|
Magnetic Flow Meter |
14.24 |
|
|
Ultrasonic Flow Meter |
14.24 |
|
|
Vortex Flow Meter |
14.24 |
|
|
Positive Displacement Meters |
14.25 |
|
|
Pitot Tubes |
14.25 |
|
14.2.6 |
Temperature |
14.25 |
|
|
Resistive Temperature Detectors (RTDs) |
14.26 |
|
|
Thermocouples |
14.26 |
|
|
Thermistors |
14.28 |
|
|
Other Sensors |
14.30 |
|
|
page 6 |
|
|
14.2.7 |
Light |
14.30 |
|
|
Light Dependant Resistors (LDR) |
14.30 |
|
14.2.8 |
Chemical |
14.31 |
|
|
pH |
14.31 |
|
|
Conductivity |
14.31 |
|
14.2.9 |
Others |
14.32 |
14.3 |
INPUT ISSUES |
14.32 |
|
14.4 |
SENSOR GLOSSARY |
14.37 |
|
14.5 |
SUMMARY |
14.38 |
|
14.6 |
REFERENCES |
14.39 |
|
14.7 |
PRACTICE PROBLEMS |
14.39 |
|
14.8 |
PRACTICE PROBLEM SOLUTIONS |
14.40 |
|
14.9 |
ASSIGNMENT PROBLEMS |
14.42 |
|
15.CONTINUOUS ACTUATORS . . . . . . . . . . . . . . . . . . . . . . . . . 15.1
15.1 |
INTRODUCTION |
15.1 |
|
15.2 |
ELECTRIC MOTORS |
15.1 |
|
|
15.2.1 Basic Brushed DC Motors |
15.3 |
|
|
15.2.2 |
AC Motors |
15.7 |
|
15.2.3 |
Brushless DC Motors |
15.15 |
|
15.2.4 |
Stepper Motors |
15.17 |
|
15.2.5 |
Wound Field Motors |
15.19 |
15.3 |
HYDRAULICS |
15.23 |
|
15.4 |
OTHER SYSTEMS |
15.24 |
|
15.5 |
SUMMARY |
15.25 |
|
15.6 |
PRACTICE PROBLEMS |
15.25 |
|
15.7 |
PRACTICE PROBLEM SOLUTIONS |
15.26 |
|
15.8 |
ASSIGNMENT PROBLEMS |
15.26 |
|
16.MOTION CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16.1
16.1 |
INTRODUCTION |
16.1 |
|
16.2 |
MOTION PROFILES |
16.2 |
|
|
16.2.1 |
Velocity Profiles |
16.2 |
|
16.2.2 |
Position Profiles |
16.11 |
16.3 |
MULTI AXIS MOTION |
16.14 |
|
|
16.3.1 |
Slew Motion |
16.15 |
|
|
Interpolated Motion |
16.16 |
|
16.3.2 |
Motion Scheduling |
16.17 |
16.4 |
PATH PLANNING |
16.19 |
|
16.5 |
CASE STUDIES |
16.21 |
|
16.6 |
SUMMARY |
16.23 |
|
16.7 |
PRACTICE PROBLEMS |
16.23 |
|
16.8 |
PRACTICE PROBLEM SOLUTIONS |
16.24 |
|
16.9 |
ASSIGNMENT PROBLEMS |
16.25 |
|
page 7
17.LAPLACE TRANSFORMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17.1
17.1 |
INTRODUCTION |
17.1 |
|
17.2 |
APPLYING LAPLACE TRANSFORMS |
17.3 |
|
|
17.2.1 |
A Few Transform Tables |
17.4 |
17.3 |
MODELING TRANSFER FUNCTIONS IN THE s-DOMAIN |
17.9 |
|
17.4 |
FINDING OUTPUT EQUATIONS |
17.11 |
|
17.5 |
INVERSE TRANSFORMS AND PARTIAL FRACTIONS |
17.14 |
|
17.6 |
EXAMPLES |
17.21 |
|
|
17.6.1 |
Mass-Spring-Damper Vibration |
17.21 |
|
17.6.2 |
Circuits |
17.23 |
17.7 |
ADVANCED TOPICS |
17.25 |
|
|
17.7.1 |
Input Functions |
17.25 |
|
17.7.2 |
Initial and Final Value Theorems |
17.26 |
17.8 |
A MAP OF TECHNIQUES FOR LAPLACE ANALYSIS |
17.27 |
|
17.9 |
SUMMARY |
17.28 |
|
17.10 |
PRACTICE PROBLEMS |
17.28 |
|
17.11 |
PRACTICE PROBLEM SOLUTIONS |
17.31 |
|
17.12 |
ASSIGNMENT PROBLEMS |
17.35 |
|
17.13 |
REFERENCES |
17.37 |
|
18.CONTROL SYSTEM ANALYSIS . . . . . . . . . . . . . . . . . . . . . . 18.1
18.1 |
INTRODUCTION |
18.1 |
|
18.2 |
CONTROL SYSTEMS |
18.1 |
|
|
18.2.1 |
PID Control Systems |
18.3 |
|
18.2.2 |
Analysis of PID Controlled Systems With Laplace Transforms |
|
18.5 |
|
|
|
|
18.2.3 |
Finding The System Response To An Input |
18.8 |
|
18.2.4 |
Controller Transfer Functions |
18.13 |
18.3 |
ROOT-LOCUS PLOTS |
18.13 |
|
|
18.3.1 |
Approximate Plotting Techniques |
18.17 |
18.4 |
DESIGN OF CONTINUOUS CONTROLLERS |
18.21 |
|
18.5 |
SUMMARY |
18.21 |
|
18.6 |
PRACTICE PROBLEMS |
18.22 |
|
18.7 |
PRACTICE PROBLEM SOLUTIONS |
18.27 |
|
18.8 |
ASSIGNMENT PROBLEMS |
18.27 |
|
19.CONVOLUTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19.1
19.1 |
INTRODUCTION |
19.1 |
19.2 |
UNIT IMPULSE FUNCTIONS |
19.1 |
19.3 |
IMPULSE RESPONSE |
19.3 |
19.4 |
CONVOLUTION |
19.5 |
19.5 |
NUMERICAL CONVOLUTION |
19.6 |
19.6 |
LAPLACE IMPULSE FUNCTIONS |
19.9 |
|
page 8 |
|
19.7 |
SUMMARY |
19.10 |
19.8 |
PRACTICE PROBLEMS |
19.10 |
19.9 |
PRACTICE PROBLEM SOLUTIONS |
19.10 |
19.10 |
ASSIGNMENT PROBLEMS |
19.10 |
20.STATE SPACE ANALYSIS . . . . . . . . . . . . . . . . . . . . . . . . . . . 20.1
20.1 |
INTRODUCTION |
20.1 |
20.2 |
OBSERVABILITY |
20.13 |
20.3 |
CONTROLLABILITY |
20.15 |
20.4 |
OBSERVERS |
20.18 |
20.5 |
SUMMARY |
20.18 |
20.6 |
PRACTICE PROBLEMS |
20.19 |
20.7 |
PRACTICE PROBLEM SOLUTIONS |
20.19 |
20.8 |
ASSIGNMENT PROBLEMS |
20.19 |
20.9 |
BIBLIOGRAPHY |
20.19 |
21.STATE SPACE CONTROLLERS . . . . . . . . . . . . . . . . . . . . . . . 21.1
21.1 |
INTRODUCTION |
21.1 |
21.2 |
FULL STATE FEEDBACK |
21.2 |
21.3 |
OBSERVERS |
21.5 |
21.4 |
SUPPLEMENTAL OBSERVERS |
21.11 |
21.5 |
REGULATED CONTROL WITH OBSERVERS |
21.11 |
21.6 |
LQR |
21.22 |
21.7LINEAR QUADRATIC GAUSSIAN (LQG) COMPENSATORS 21.24
21.8 |
VERIFYING CONTROL SYSTEM STABILITY |
21.24 |
|
|
21.8.1 |
Stability |
21.25 |
|
21.8.2 |
Bounded Gain |
21.26 |
21.9 |
ADAPTIVE CONTROLLERS |
21.28 |
|
21.10 |
OTHER METHODS |
21.31 |
|
|
21.10.1 |
Kalman Filtering |
21.32 |
21.11 |
SUMMARY |
21.32 |
|
21.12 |
PRACTICE PROBLEMS |
21.33 |
|
21.13 |
PRACTICE PROBLEM SOLUTIONS |
21.33 |
|
21.14 |
ASSIGNMENT PROBLEMS |
21.33 |
|
22.SYSTEM IDENTIFICATION . . . . . . . . . . . . . . . . . . . . . . . . . . 22.1
22.1 |
INTRODUCTION |
22.1 |
22.2 |
SUMMARY |
22.10 |
22.3 |
PRACTICE PROBLEMS |
22.10 |
22.4 |
PRACTICE PROBLEM SOLUTIONS |
22.10 |
22.5 |
ASSIGNMENT PROBLEMS |
22.10 |
23.ELECTROMECHANICAL SYSTEMS . . . . . . . . . . . . . . . . . . . 23.1
|
page 9 |
|
23.1 |
INTRODUCTION |
23.1 |
23.2 |
MATHEMATICAL PROPERTIES |
23.1 |
|
23.2.1 Induction |
23.1 |
23.3 |
EXAMPLE SYSTEMS |
23.9 |
23.4 |
SUMMARY |
23.16 |
23.5 |
PRACTICE PROBLEMS |
23.16 |
23.6 |
PRACTICE PROBLEM SOLUTIONS |
23.16 |
23.7 |
ASSIGNMENT PROBLEMS |
23.16 |
24.FLUID SYSTEMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24.1
24.1 |
SUMMARY |
24.1 |
|
24.2 |
MATHEMATICAL PROPERTIES |
24.1 |
|
|
24.2.1 |
Resistance |
24.2 |
|
24.2.2 |
Capacitance |
24.4 |
|
24.2.3 |
Power Sources |
24.6 |
24.3 |
EXAMPLE SYSTEMS |
24.8 |
|
24.4 |
SUMMARY |
24.10 |
|
24.5 |
PRACTICE PROBLEMS |
24.10 |
|
24.6 |
PRACTICE PROBLEMS SOLUTIONS |
24.10 |
|
24.7 |
ASSIGNMENT PROBLEMS |
24.10 |
|
25.THERMAL SYSTEMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25.1
25.1 |
INTRODUCTION |
25.1 |
|
25.2 |
MATHEMATICAL PROPERTIES |
25.1 |
|
|
25.2.1 |
Resistance |
25.1 |
|
25.2.2 |
Capacitance |
25.3 |
|
25.2.3 |
Sources |
25.4 |
25.3 |
EXAMPLE SYSTEMS |
25.4 |
|
25.4 |
SUMMARY |
25.7 |
|
25.5 |
PRACTICE PROBLEMS |
25.7 |
|
25.6 |
PRACTICE PROBLEM SOLUTIONS |
25.7 |
|
25.7 |
ASSIGNMENT PROBLEMS |
25.7 |
|
26.OPTIMIZATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26.1
26.1 |
INTRODUCTION |
26.1 |
|
26.2 |
OBJECTIVES AND CONSTRAINTS |
26.2 |
|
26.3 |
SEARCHING FOR THE OPTIMUM |
26.6 |
|
26.4 |
OPTIMIZATION ALGORITHMS |
26.9 |
|
|
26.4.1 |
Random Walk |
26.9 |
|
26.4.2 |
Gradient Decent |
26.10 |
|
26.4.3 |
Simplex |
26.10 |
26.5 |
SUMMARY |
26.10 |
|
26.6 |
PRACTICE PROBLEMS |
26.10 |
|
26.7 |
PRACTICE PROBLEM SOLUTIONS |
26.10 |
|
page 10
26.8 |
ASSIGNMENT PROBLEMS |
26.10 |
27. FINITE ELEMENT ANALYSIS (FEA) . . . . . . . . . . . . . . . . . . . 27.1
27.1 |
INTRODUCTION |
27.1 |
27.2 |
FINITE ELEMENT MODELS |
27.2 |
27.3 |
FINITE ELEMENT MODELS |
27.4 |
27.4 |
SUMMARY |
27.12 |
27.5 |
PRACTICE PROBLEMS |
27.13 |
27.6 |
PRACTICE PROBLEM SOLUTIONS |
27.13 |
27.7 |
ASSIGNMENT PROBLEMS |
27.13 |
27.8 |
BIBLIOGRAPHY |
27.13 |
28. FUZZY LOGIC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28.1
28.1 |
INTRODUCTION |
28.1 |
28.2 |
COMMERCIAL CONTROLLERS |
28.7 |
28.3 |
REFERENCES |
28.7 |
28.4 |
SUMMARY |
28.7 |
28.5 |
PRACTICE PROBLEMS |
28.8 |
28.6 |
PRACTICE PROBLEM SOLUTIONS |
28.8 |
28.7 |
ASSIGNMENT PROBLEMS |
28.8 |
29. NEURAL NETWORKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29.1
29.1 |
SUMMARY |
29.9 |
29.2 |
PRACTICE PROBLEMS |
29.10 |
29.3 |
PRACTICE PROBLEM SOLUTIONS |
29.10 |
29.4 |
ASSIGNMENT PROBLEMS |
29.10 |
29.5 |
REFERENCES |
29.10 |
30. EMBEDDED CONTROL SYSTEM . . . . . . . . . . . . . . . . . . . . . 30.1
30.1 |
INTRODUCTION |
30.1 |
30.2 |
CASE STUDY |
30.3 |
30.3 |
SUMMARY |
30.3 |
30.4 |
PRACTICE PROBLEMS |
30.3 |
30.5 |
PRACTICE PROBLEM SOLUTIONS |
30.3 |
30.6 |
ASSIGNMENT PROBLEMS |
30.3 |
31. WRITING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31.1
31.1 |
FORGET WHAT YOU WERE TAUGHT BEFORE |
31.1 |
31.2 |
WHY WRITE REPORTS? |
31.2 |
31.3 |
THE TECHNICAL DEPTH OF THE REPORT |
31.3 |
31.4 |
TYPES OF REPORTS |
31.3 |
31.5 |
LABORATORY REPORTS |
31.3 |
|
An Example First Draft of a Report |
31.5 |
|
|
page 11 |
|
|
|
An Example Final Draft of a Report |
31.11 |
31.6 |
RESEARCH |
31.11 |
|
31.7 |
DRAFT REPORTS |
31.11 |
|
31.8 |
PROJECT REPORT |
31.12 |
|
31.9 |
OTHER REPORT TYPES |
31.13 |
|
|
31.9.1 |
Executive |
31.13 |
|
31.9.2 |
Consulting |
31.13 |
|
31.9.3 |
Memo(randum) |
31.13 |
|
31.9.4 |
Interim |
31.14 |
|
31.9.5 |
Poster |
31.14 |
|
31.9.6 |
Progress Report |
31.14 |
|
31.9.7 |
Oral |
31.15 |
|
31.9.8 |
Patent |
31.15 |
31.10 |
LAB BOOKS |
31.16 |
|
31.11 |
REPORT ELEMENTS |
31.16 |
|
|
31.11.1 |
Figures |
31.17 |
|
31.11.2 |
Graphs |
31.18 |
|
31.11.3 |
Tables |
31.19 |
|
31.11.4 |
Equations |
31.19 |
|
31.11.5 |
Experimental Data |
31.20 |
|
31.11.6 |
Result Summary |
31.21 |
|
31.11.7 |
References |
31.21 |
|
31.11.8 |
Acknowledgments |
31.21 |
|
31.11.9 |
Abstracts |
31.22 |
|
31.11.10 |
Appendices |
31.22 |
|
31.11.11 |
Page Numbering |
31.23 |
|
31.11.12 |
Numbers and Units |
31.23 |
|
31.11.13 |
Engineering Drawings |
31.23 |
|
31.11.14 |
Discussions |
31.24 |
|
31.11.15 |
Conclusions |
31.24 |
|
31.11.16 |
Recomendations |
31.24 |
|
31.11.17 |
Appendices |
31.25 |
|
31.11.18 |
Units |
31.25 |
31.12 |
GENERAL WRITING ISSUES |
31.25 |
|
31.13 |
WRITERS BLOCK |
31.26 |
|
31.14 |
TECHNICAL ENGLISH |
31.26 |
|
31.15 |
EVALUATION FORMS |
31.29 |
|
31.16 |
PATENTS |
31.31 |
|
32.PROJECTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32.1
32.1 |
|
|
32.1 |
32.2 |
OVERVIEW |
32.1 |
|
|
32.2.1 |
The Objectives and Constraints |
32.2 |
32.3 |
MANAGEMENT |
32.3 |
|
|
32.3.1 |
Timeline - Tentative |
32.3 |
|
|
page 12 |
|
|
32.3.2 |
Teams |
32.4 |
32.4 |
DELIVERABLES |
32.5 |
|
|
32.4.1 |
Conceptual Design |
32.5 |
|
32.4.2 |
EGR 345/101 Contract |
32.5 |
|
32.4.3 |
Progress Reports |
32.6 |
|
32.4.4 |
Design Proposal |
32.6 |
|
32.4.5 |
The Final Report |
32.7 |
32.5 |
REPORT ELEMENTS |
32.8 |
|
|
32.5.1 |
Gantt Charts |
32.8 |
|
32.5.2 |
Drawings |
32.9 |
|
32.5.3 |
Budgets and Bills of Material |
32.9 |
|
32.5.4 |
Calculations |
32.10 |
32.6 |
APPENDICES |
32.10 |
|
|
32.6.1 |
Appendix A - Sample System |
32.10 |
|
32.6.2 |
Appendix B - EGR 345/101 Contract |
32.18 |
|
32.6.3 |
Appendix C - Forms |
32.19 |
33.ENGINEERING PROBLEM SOLVING . . . . . . . . . . . . . . . . . . 33.1
33.1 |
BASIC RULES OF STYLE |
33.1 |
|
33.2 |
EXPECTED ELEMENTS |
33.1 |
|
33.3 |
SEPCIAL ELEMENTS |
33.2 |
|
|
33.3.1 |
Graphs |
33.2 |
|
33.3.2 |
EGR 345 Specific |
33.2 |
33.4 |
SCILAB |
|
33.2 |
33.5 |
TERMINOLOGY |
33.3 |
|
34.MATHEMATICAL TOOLS . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34.1
34.1 |
INTRODUCTION |
34.1 |
|
|
34.1.1 |
Constants and Other Stuff |
34.2 |
|
34.1.2 |
Basic Operations |
34.3 |
|
|
Factorial |
34.4 |
|
34.1.3 |
Exponents and Logarithms |
34.4 |
|
34.1.4 |
Polynomial Expansions |
34.5 |
|
34.1.5 |
Practice Problems |
34.6 |
34.2 |
FUNCTIONS |
34.9 |
|
|
34.2.1 |
Discrete and Continuous Probability Distributions |
34.9 |
|
34.2.2 |
Basic Polynomials |
34.9 |
|
34.2.3 |
Partial Fractions |
34.11 |
|
34.2.4 |
Summation and Series |
34.14 |
|
34.2.5 |
Practice Problems |
34.16 |
34.3 |
SPATIAL RELATIONSHIPS |
34.17 |
|
|
34.3.1 |
Trigonometry |
34.17 |
|
34.3.2 |
Hyperbolic Functions |
34.22 |
|
|
Practice Problems |
34.23 |
|
34.3.3 |
Geometry |
34.24 |
|
|
page 13 |
|
|
34.3.4 |
Planes, Lines, etc. |
34.41 |
|
34.3.5 |
Practice Problems |
34.43 |
34.4 |
COORDINATE SYSTEMS |
34.45 |
|
|
34.4.1 |
Complex Numbers |
34.45 |
|
34.4.2 |
Cylindrical Coordinates |
34.48 |
|
34.4.3 |
Spherical Coordinates |
34.49 |
|
34.4.4 |
Practice Problems |
34.50 |
34.5 |
MATRICES AND VECTORS |
34.51 |
|
|
34.5.1 |
Vectors |
34.51 |
|
34.5.2 |
Dot (Scalar) Product |
34.52 |
|
34.5.3 |
Cross Product |
34.57 |
|
34.5.4 |
Triple Product |
34.59 |
|
34.5.5 |
Matrices |
34.59 |
|
34.5.6 |
Solving Linear Equations with Matrices |
34.64 |
|
34.5.7 |
Practice Problems |
34.65 |
34.6 |
CALCULUS |
34.70 |
|
|
34.6.1 |
Single Variable Functions |
34.70 |
|
|
Differentiation |
34.70 |
|
|
Integration |
34.73 |
|
34.6.2 |
Vector Calculus |
34.77 |
|
34.6.3 |
Differential Equations |
34.79 |
|
|
First-order Differential Equations |
34.80 |
|
|
Guessing |
34.81 |
|
|
Separable Equations |
34.81 |
|
|
Homogeneous Equations and Substitution |
34.82 |
|
|
Second-order Differential Equations |
34.83 |
|
|
Linear Homogeneous |
34.83 |
|
|
Nonhomogeneous Linear Equations |
34.84 |
|
|
Higher Order Differential Equations |
34.86 |
|
|
Partial Differential Equations |
34.86 |
|
34.6.4 |
Other Calculus Stuff |
34.87 |
|
34.6.5 |
Practice Problems |
34.87 |
34.7 |
NUMERICAL METHODS |
34.93 |
|
34.7.1Approximation of Integrals and Derivatives from Sampled Data
34.93
|
34.7.2 |
Euler First-order Integration |
34.94 |
|
34.7.3 |
Taylor Series Integration |
34.94 |
|
34.7.4 |
Runge-Kutta Integration |
34.95 |
|
34.7.5 |
Newton-Raphson to Find Roots |
34.95 |
34.8 |
LAPLACE TRANSFORMS |
34.96 |
|
|
34.8.1 |
Laplace Transform Tables |
34.96 |
34.9 |
z-TRANSFORMS |
34.99 |
|
34.10 |
FOURIER SERIES |
34.102 |
|
34.11 |
TOPICS NOT COVERED (YET) |
34.102 |
|
34.12 |
REFERENCES/BIBLIOGRAPHY |
34.103 |
|
page 14
35.A BASIC INTRODUCTION TO ‘C’ . . . . . . . . . . . . . . . . . . . . . 35.1
35.1 |
WHY USE ‘C’? |
35.1 |
|
35.2 |
BACKGROUND |
35.2 |
|
35.3 |
PROGRAM PARTS |
35.2 |
|
35.4 |
HOW A ‘C’ COMPILER WORKS |
35.11 |
|
35.5 |
STRUCTURED ‘C’ CODE |
35.13 |
|
35.6 |
ARCHITECTURE OF ‘C’ PROGRAMS (TOP-DOWN) |
35.14 |
|
|
35.6.1 |
How? |
35.14 |
|
35.6.2 |
Why? |
35.15 |
35.7 |
CREATING TOP DOWN PROGRAMS |
35.16 |
|
35.8 |
HOW THE BEAMCAD PROGRAM WAS DESIGNED |
35.17 |
|
|
35.8.1 |
Objectives: |
35.18 |
|
35.8.2 |
Problem Definition: |
35.18 |
|
35.8.3 |
User Interface: |
35.18 |
|
|
Screen Layout (also see figure): |
35.18 |
|
|
Input: |
35.19 |
|
|
Output: |
35.20 |
|
|
Help: |
35.20 |
|
|
Error Checking: |
35.20 |
|
|
Miscellaneous: |
35.21 |
|
35.8.4 |
Flow Program: |
35.22 |
|
35.8.5 |
Expand Program: |
35.22 |
|
35.8.6 |
Testing and Debugging: |
35.24 |
|
35.8.7 |
Documentation |
35.25 |
|
|
Users Manual: |
35.25 |
|
|
Programmers Manual: |
35.26 |
|
35.8.8 Listing of BeamCAD Program. |
35.26 |
|
35.9 |
PRACTICE PROBLEMS |
35.26 |
|
36.UNITS AND CONVERSIONS . . . . . . . . . . . . . . . . . . . . . . . . . 36.1
36.1 |
HOW TO USE UNITS |
36.1 |
36.2 |
HOW TO USE SI UNITS |
36.2 |
36.3 |
THE TABLE |
36.2 |
36.4 |
ASCII, HEX, BINARY CONVERSION |
36.6 |
36.5 |
G-CODES |
36.8 |
37.ATOMIC MATERIAL DATA . . . . . . . . . . . . . . . . . . . . . . . . . . 37.1
37.MECHANICAL MATERIAL PROPERTIES . . . . . . . . . . . . . . 37.1
37.1 |
FORMULA SHEET |
37.4 |
38.BIBLIOGRAPHY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38.1
38.1 |
TEXTBOOKS |
38.1 |
|
|
38.1.1 |
Slotine and Li |
38.1 |
page 15
38.1.2 |
VandeVegte |
38.1 |
39.TOPICS IN DEVELOPMENT . . . . . . . . . . . . . . . . . . . . . . . . . . 39.1
39.1 |
UPDATED DC MOTOR MODEL |
39.1 |
39.2 |
ANOTHER DC MOTOR MODEL |
39.4 |
39.3 |
BLOCK DIAGRAMS AND UNITS |
39.8 |
39.4 |
SIGNAL FLOW GRAPHS |
39.9 |
39.5 |
ZERO ORDER HOLD |
39.9 |
39.6 |
TORSIONAL DAMPERS |
39.9 |
39.7 |
MISC |
39.10 |
39.8 |
Nyquist Plot |
39.10 |
39.9 |
NICHOLS CHART |
39.12 |
39.10 |
BESSEL POLYNOMIALS |
39.14 |
39.11 |
ITAE |
39.15 |
39.12 |
ROOT LOCUS |
39.16 |
39.13 |
LYAPUNOV’S LINEARIZATION METHOD |
39.16 |
39.14 |
XXXXX |
39.17 |
39.15 |
XXXXX |
39.18 |
39.16 |
XXXXX |
39.18 |
39.17 |
XXXXX |
39.18 |
39.18 |
XXXXX |
39.18 |
39.19 |
XXXXX |
39.18 |
39.20 |
XXXXX |
39.18 |
39.21 |
SUMMARY |
39.18 |
39.22 |
PRACTICE PROBLEMS |
39.18 |
39.23 |
PRACTICE PROBLEM SOLUTIONS |
39.19 |
39.24 |
ASSGINMENT PROBLEMS |
39.19 |
39.25 |
REFERENCES |
39.19 |
39.26 |
BIBLIOGRAPHY |
39.19 |
introduction - 1.1
1. INTRODUCTION
Topics:
Objectives:
1.1BASIC TERMINOLOGY
•Modeling
•Explicit solutions
•Numerical solutions
•Empirical data
•Simulation
•Lumped parameter (masses and springs)
•Distributed parameters (stress in a solid)
•Continuous vs. Discrete
•Linear vs. Non-linear
introduction - 1.2
•linearity and superposition
•reversibility
•through and across variables
•Analog vs. Digital
•process vs. controllers
•Basic system categories below,
Static
Dynamic Stochastic
Deterministic Distributed
Lumped Non-linear
Linear Continuous
Discrete
Figure 1.1 Model Classifications
introduction - 1.3
•control system types: servo vs. regulating/process control
•open loop vs. closed loop
•disturbances
•component variations
•system error
•analysis vs. design
•mechatronics
•embedded systems
•real-time systems
•
1.2EXAMPLE SYSTEM
•Servo control systems
•Robot
1.3SUMMARY
•
1.4 PRACTICE PROBLEMS
1.