The design of high performance mechatronics : high-tech functionality by multidisciplinary system integration / Robert Munnig Schmidt [and three others].

Format:

Book

Author/Creator:

Schmidt, Robert Munnig, author.

Schitter, Georg, author.

Rankers, Adrian., author.

Eijk, Jan van, author.

Series:

IOS Press Series

Language:

English

Subjects (All):

Mechatronics.

Physical Description:

1 online resource (949 pages) : illustrations

Edition:

3rd revised edition.

Place of Publication:

Amsterdam, The Netherlands : Delft University Press, [2020]

Summary:

Since they entered our world around the middle of the 20th century, the application of mechatronics has enhanced our lives with functionality based on the integration of electronics, control systems and electric drives.This book deals with the special class of mechatronics that has enabled the exceptional levels of accuracy and speed of high-tech.

Contents:

Intro

Title Page

Contents

Preface

Motivation

Comments to the Third Edition

Acknowledgements

Summary

1 Mechatronics in the Dutch High-Tech Industry

Introduction

1.1 Historical Background

1.1.1 Video Long-Play Disk (VLP)

1.1.1.1 Signal Encoding and Read-Out Principle

1.1.1.2 Compact Disc and Digital Optical Recording

1.1.2 Silicon Repeater

1.1.2.1 IC Manufacturing Process

1.1.2.2 Highly Accurate Waferstage

1.1.3 Impact of Mechatronics

1.2 Definition and International Positioning

1.2.1 Different Views on Mechatronics

1.2.1.1 Main Targeted Application

1.2.1.2 Focus on Precision-Controlled Motion

1.3 Systems Engineering and Design

1.3.1 Systems Engineering Methodology

1.3.1.1 Product Creation Process

1.3.1.2 Requirement Budgeting

1.3.1.3 Roadmapping

1.3.2 Design Methodology

1.3.2.1 Concurrent Engineering

1.3.2.2 Modular Design and Platforms

1.3.2.3 Agile and Scrum

2 Applied Physics in Mechatronic Systems

2.1 Mechanics

2.1.1 Coordinate Systems

2.1.1.1 Cartesian Coordinate System

2.1.1.2 Generalised Coordinate System

2.1.1.3 Modal Coordinate System

2.1.2 Force and Motion

2.1.2.1 Galilei and Newton's Laws of Motion

2.1.2.2 Hooke's Law of Elasticity

2.1.2.3 Lagrange Equations of Motion

2.2 Electricity and Magnetism

2.2.1 Electric Field

2.2.1.1 Potential Difference and Capacitance

2.2.1.2 Electric Current in Conductive Material

2.2.2 Magnetism and the Maxwell Equations

2.2.3 Electric Sources and Elements

2.2.3.1 Voltage Source

2.2.3.2 Summary on Voltage and Current

2.2.3.3 Electric Power

2.2.3.4 Ohm's Law

2.2.3.5 Practical Values and Summary

2.3 Signal Theory and Wave Propagation

2.3.1 The Concept of Frequency

2.3.1.1 Random Signals or Noise

2.3.1.2 Power of Alternating Signals.

2.3.2 Use of Complex Numbers

2.3.2.1 Dynamic Impedance and Ohm's Law

2.3.2.2 Power in Dynamic Impedance

2.3.2.3 Capacitive Impedance

2.3.2.4 Inductive Impedance

2.3.3 Energy Propagation in Waves

2.3.3.1 Mechanical Waves

2.3.3.2 Wave Equation

2.3.3.3 Electromagnetic Waves

2.3.3.4 Reflection of Waves

2.3.3.5 Standing Waves

2.3.4 Fourier Decomposition of Alternating Signals

2.3.4.1 Fourier in the frequency-domain

2.3.4.2 Triangle Waveform

2.3.4.3 Sawtooth Waveform

2.3.4.4 Square Waveform

2.3.4.5 Non-Continuous Alternating Signals

2.4 Dynamic System Analysis and Modelling

2.4.0.1 Laplace-Transform

2.4.0.2 Poles and Zeros

2.4.0.3 Order of a Dynamic System

2.4.1 Dynamic Responses in the time-domain

2.4.1.1 Step Response

2.4.1.2 Impulse Response

2.4.1.3 Impulse Response and Pole Location

2.4.2 Dynamic Responses in the frequency-domain

2.4.2.1 Frequency or Fourier-Domain Responses

2.4.2.2 Domain Notation of Dynamic Functions

2.4.2.3 Frequency Response Plots

2.4.2.4 Bode Plot

2.4.2.5 Nyquist Plot

2.4.2.6 Limitation to LTI Systems

3 Dynamics of Motion Systems

3.1 Stiffness

3.1.1 Importance of Stiffness for Precision

3.1.2 Active Stiffness

3.2 Mass-Spring Systems with Damping

3.2.1 Dynamic Compliance

3.2.1.1 Compliance of a Spring

3.2.1.2 Compliance of a Damper

3.2.1.3 Compliance of a Body

3.2.1.4 Dynamic Stiffness

3.2.1.5 Lumping the Dynamic Elements

3.2.2 Transfer Function of Compliance

3.2.2.1 Damped Mass-Spring System.

3.2.2.2 Magnitude

3.2.2.3 Phase

3.2.2.4 Bode Plot

3.2.3 Effects of Damping

3.2.3.1 Damped Resonance and Aperiodic Damping

3.2.3.2 Poles and Critical Damping

3.2.3.3 Quality-Factor Q and Energy in Resonance

3.2.4 Transmissibility

3.2.5 Fourth-Order Dynamic System.

3.2.5.1 Analytical Description

3.2.5.2 Multiplicative Expression

3.2.5.3 Effect of Different Mass Ratios

3.3 Modal Decomposition

3.3.1 Eigenmodes of Two-Body Mass-Spring System

3.3.2 Theory of Modal Decomposition

3.3.2.1 Multi Degree of Freedom Equation of Motion

3.3.2.2 Eigenvalues and Eigenvectors

3.3.2.3 Modal Coordinates

3.3.2.4 Resulting Transfer Function

3.3.3 Graphical Representation of Mode-Shapes

3.3.3.1 Traditional Representation

3.3.3.2 Lever Representation

3.3.3.3 General System

3.3.3.4 User-Defined Physical DOF

3.3.4 Physical Meaning of Modal Parameters

3.3.4.1 Two-Body Mass-Spring System

3.3.4.2 Planar Flexibly Guided System

3.3.5 A Pragmatic View on Sensitivity Analysis

3.3.5.1 Example of Two Body Mass-Spring System

3.3.5.2 Example of Slightly Damped Resonance

3.3.6 Suspension and Rigid-Body Modes

3.3.6.1 Quasi Rigid-Body Suspension mode

3.4 Mechanical Frequency Response

3.4.1 Multiple eigenmodes

3.4.2 Characteristic Frequency Responses

3.4.2.1 Frequency Response Type I

3.4.2.2 Frequency Response Type II

3.4.2.3 Frequency Response Type III

3.4.2.4 Frequency Response Type IV

3.4.3 Example Systems with Type I/II/IV Response

3.4.3.1 Planar Moving Body on Compliant Spring

3.4.3.2 H-drive Waferstage

3.5 Summary on Dynamics

4 Motion Control

4.1 A Walk around the Control Loop

4.1.1 Poles and Zeros in Motion Control

4.1.2 Overview Feedforward Control

4.1.2.1 Summary of Feedforward Control

4.1.3 Overview Feedback Control

4.1.3.1 Summary of Feedback Control

4.2 Feedforward Control

4.2.1 Model-Based Feedforward Control

4.2.2 Input-Shaping

4.2.3 Adaptive Feedforward Control

4.2.4 Trajectory Profile Generation

4.3 Feedback Control

4.3.1 Sensitivity to Input Signals.

4.3.1.1 Sensitivity Functions

4.3.1.2 Real Feedback Error Sensitivity

4.3.2 Stability and Robustness in Feedback Control

4.3.2.1 Stability margins

4.4 PID Feedback Control

4.4.1 PID-Control of a Compact-Disc Player

4.4.1.1 Relevant Sensitivity Functions

4.4.1.2 Proportional Feedback

4.4.1.3 Proportional-Differential Feedback

4.4.1.4 Limiting the Differentiating Action

4.4.1.5 Adding I-Control

4.4.2 PID-Control of a Spring Supported Mass

4.4.2.1 P-Control

4.4.2.2 D-Control

4.4.2.3 I-Control

4.4.2.4 Sensitivity Function Graphs

4.4.3 Limitations and Side Effects of PID-Feedback Control

4.4.3.1 Increased Sensitivity, the Waterbed Effect

4.4.3.2 Integrator Wind-Up and Delays

4.4.4 PID-Control of a Fourth-Order Dynamic System

4.4.4.1 Controlling a Type III Dynamic System

4.4.4.2 Passive Damping

4.4.4.3 Shifting the Phase

4.4.5 PID-Control of a Piezoelectric Actuator

4.4.5.1 Creating a Fourth-Order System

4.4.6 PID-Control of a Magnetic Bearing

4.4.6.1 Frequency Response

4.4.6.2 Positive Stiffness by P-Control

4.4.6.3 D-Control and Pole Placement

4.4.6.4 I-control for Reduced Sensitivity

4.4.7 Optimisation by Loop-Shaping Design

4.4.7.1 Optimal Value of Alpha

4.4.7.2 Additional Low-Pass Filtering

4.4.7.3 Notching Filters

4.4.7.4 Peaking and Shelving Filters

4.4.8 Design Steps for PID-control

4.5 Digital Signal Processing - The Z-Domain

4.5.1 Continuous Time versus Discrete Time

4.5.2 Sampling of Continuous Signals

4.5.3 Digital Number Representation

4.5.3.1 Fixed Point Arithmetic

4.5.3.2 Floating Point Arithmetic

4.5.4 Digital Filter Theory

4.5.4.1 Z-Transform and Difference Equations

4.5.5 Finite Impulse Response (FIR) Filter

4.5.6 Infinite Impulse Response (IIR) Filter.

4.5.7 Converting Continuous to Discrete-Time Filters

4.6 State-Space Feedback Control

4.6.1 State-Space in Relation to Motion Control

4.6.1.1 Mechanical Dynamic System in State-Space

4.6.1.2 PID-Control Feedback in State-Space

4.6.2 State Feedback

4.6.2.1 System Identification

4.6.2.2 State Estimation

4.6.2.3 Additional Remarks on State-Space Control

4.7 Conclusion on Motion Control

5 Electromechanic Actuators

5.1 Electromagnetics

5.1.1 Hopkinson's Law

5.1.1.1 Practical Aspects of Hopkinson's Law

5.1.1.2 Magnetic Energy

5.1.2 Ferromagnetic Materials

5.1.2.1 Coil with Ferromagnetic Yoke

5.1.2.2 Magnetisation Curve

5.1.2.3 Permanent Magnets

5.1.3 Creating a Magnetic Field in an Air-Gap

5.1.3.1 Optimal Use of Permanent Magnet Material

5.1.3.2 Flat Magnets Reduce Fringing Flux

5.1.3.3 Low Cost Loudspeaker Magnet

5.2 Lorentz Actuator

5.2.1 Lorentz Force

5.2.1.1 Force from Flux-Linkage

5.2.2 The Lorentz actuator as a Generator

5.2.3 Improving the Force of a Lorentz Actuator

5.2.3.1 The Moving-Coil Loudspeaker Actuator

5.2.4 Position Dependency of the Lorentz Force

5.2.4.1 Over-Hung and Under-Hung Coil

5.2.5 Electronic Commutation

5.2.5.1 Three-Phase Electronic Control

5.2.6 Figures of Merit of a Lorentz Actuator

5.3 Variable Reluctance Actuation

5.3.1 Reluctance Force in Lorentz Actuator

5.3.1.1 Eddy-Current Ring

5.3.1.2 Ironless Stator

5.3.2 Analytical Derivation of Reluctance Force

5.3.3 Variable Reluctance Actuator.

5.3.3.1 Electromagnetic Relay

5.3.3.2 Magnetic Attraction Force

5.3.4 Permanent Magnet Biased Reluctance Actuator

5.3.4.1 Double Variable Reluctance Actuator

5.3.4.2 Constant Common Flux

5.3.4.3 Combining two Sources of Magnetic Flux

5.3.4.4 Hybrid Force Calculation.

5.3.4.5 Magnetic Bearings.

Notes:

Includes bibliographical references and index.

Description based on print version record.

Description based on publisher supplied metadata and other sources.

ISBN:

1-64368-051-X

OCLC:

1148883271