Mechatronics: Fundamentals, Design, Integration, and Validation

by Guoming Zhu

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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.

Description from LibreTexts.

Publisher
Michigan State University
Subjects
Engineering, Introductory Engineering
Licence
CC BY-NC 4.0, as LibreTexts states it. Non-commercial use only.
Who can read
Tweens profiles and older, judged from its title and subjects

Contents

LibreTexts writes equations in TeX, and here they show as TeX; the PDF has them typeset.

  1. Front Matter
  2. TitlePage
  3. InfoPage
  4. Table of Contents
  5. Licensing
  6. Acknowledgements
  7. 1: Introduction
  8. 1.0: Prelude
  9. 1.1: Introduction of Mechatronic Systems
  10. 1.2: Introduction of Mechatronic Systems
  11. 1.3: How to Use This Book
  12. 1.4: Chapter References
  13. 2: Mechatronic System Modeling
  14. 2.0: Prelude
  15. 2.1: Laplace Transforms
  16. 2.2: Mechanical System Modeling
  17. 2.3: Electrical and Electronic System Modeling
  18. 2.4: Mechatronic System Modeling
  19. 2.5: System Linearization
  20. 2.6: Introduction of Gray- and Black-Box Modeling Using System Identification and Machine Learning
  21. 2.7: Chapter References
  22. 3: System Responses and Controls
  23. 3.0: Prelude
  24. 3.1: Impulse, Step, and Sinusoidal Responses
  25. 3.2: System Stability and Its Performance Measures
  26. 3.3: The First and Second Order System Responses and Associated Pole Locations
  27. 3.4: PID Control and Its Gain Tuning Methods
  28. 3.5: Review of Model-Based Control Design and Gain Tuning Methods
  29. 3.6: Machine Learning-Based Control
  30. 3.7: Chapter References
  31. 4: Signal Processing
  32. 4.0: Prelude
  33. 4.1: Analog Signals and Their Frequency Analysis
  34. 4.2: Conversion between Analog and Digital Signals (A/D and D/A Conversions)
  35. 4.3: Digital Signals and Their Frequency Analysis
  36. 4.4: Analog and Digital Filter Design
  37. 4.5: Nyquist-Shannon Sample Theorem, Sample Aliasing, and Anti-Aliasing Filters
  38. 4.6: Pulse-Width and Frequency Modulated Signals
  39. 4.7: Advanced Analog and Digital Filter Design and Implementation
  40. 4.8: Chapter References
  41. 5: Mechatronic System Component- Actuators
  42. 5.0: Prelude
  43. 5.1: Mechatronic Actuator Background
  44. 5.2: Mechatronic Actuator Background
  45. 5.3: DC-Motor Drive Circuits
  46. 5.4: Discrete Electromagnetic Valve Actuation (EMVA)
  47. 5.5: Discrete Electrohydraulic Valve Actuation (EHVA)
  48. 5.6: Introduction of Permanent Magnetic Motor Principle, Drive, and Control
  49. 5.7: Chapter References
  50. 6: Mechatronic System Component- Sensors
  51. 6.0: Prelude
  52. 6.1: Mechatronic Sensor Background
  53. 6.2: Rotational Speed Sensors and Their Speed Calculation
  54. 6.3: Acceleration Sensors
  55. 6.4: Angular Velocity Sensors (Rate Gyro)
  56. 6.5: Sensor Fusion
  57. 6.6: MEMS-Based Integrated Acceleration and Angular Velocity Sensing
  58. 6.7: Temperature, Pressure, Flow, Current, and Voltage Sensing
  59. 6.8: Vision-Based Sensing
  60. 6.9: Chapter References
  61. 7: Mechatronic Control Systems
  62. 7.0: Prelude
  63. 7.1: Mechatronic System Architecture
  64. 7.2: Microcontrollers Used for Mechatronic Systems
  65. 7.3: Sample Microcontroller- Arduino MKR 1000 Wi-Fi
  66. 7.4: Mechatronic Control System Architecture- Speed Control Example
  67. 7.5: Iterative Mechatronic Control System Development and Validation Process- The V-Design Process
  68. 7.6: Chapter References
  69. 8: Mini-Segway System — Mechatronic System Example I
  70. 8.0: Prelude
  71. 8.1: Mini-Segway System Modeling
  72. 8.2: Model-Free Dual-PID Mini-Segway Control System Architecture
  73. 8.3: Model-Based Mini-Segway Control
  74. 8.4: Model-Based Mini-Segway Control with Special Sample and Hold Input
  75. 8.5: Mini-Segway SiL Simulation Validation of a Dual-PID Controller
  76. 8.6: Mini-Segway SiL Simulation Validation of Model-Based Controllers
  77. 8.7: Experimental Study of the Mini-Segway Model-Free Control
  78. 8.8: Model-Based Control Experiments
  79. 8.9: Chapter References
  80. 9: Three-Wheel Cart - Mechatronic System Example 2
  81. 9.0: Prelude
  82. 9.1: Three-Wheel Cart System Modeling
  83. 9.2: Dual- and Triple-PID Control of a Three-Wheel Cart
  84. 9.3: Model-Based Control of a Three-Wheel Cart
  85. 9.4: Simulation Study of PID and Model-Based Control Strategies
  86. 9.5: Experimental Investigation of PID Control Strategies
  87. 9.6: Experimental Investigation of Model-Based Control Strategy
  88. 9.7: Chapter References
  89. 10: Appendix A - MATLAB and Simulink Software
  90. 11: Appendix B - Mechatronics Lab Sessions
  91. 11.0: MATLAB/Simulink Installation
  92. 11.1: Simulation of the 1st and 2nd Order Systems in MATLAB/Simulink
  93. 11.2: Analog and Digital Systems and Fast Fourier Transform (FFT)
  94. 11.3: Filter Design and Introduction to Arduino MKR 1000 Wi-Fi
  95. 11.4: DC-Motor Control Utilizing Arduino Hardware
  96. 11.5: Simulink GUI (Graphic User Interface) Design and Programming
  97. 11.6: Sensor Fusion vs. Single Sensor
  98. 11.7: PID Tuning for Mini-Segway Simulink Model
  99. 11.8: PID Tuning for Mini-Segway Hardware System
  100. 11.9: Mini-Segway Stabilization and Drive Project
  101. Back Matter
  102. Index
  103. Glossary
  104. Glossary A
  105. Detailed Licensing