国外工业控制与智能制造丛书

机械电子学：机械和电气工程中的电子控制系统

（英文版·第6版）

Mechatronics: Electronic Control Systems in Mechanical and Electrical Engineering,Sixth Edition

[英]威廉·博尔顿（William Bolton）著

出版者的话

文艺复兴以来，源远流长的科学精神和逐步形成的学术规范，使西方国家在自然科学的各个领域取得了垄断性的优势；也正是这样的优势，使美国在信息技术发展的六十多年间名家辈出、独领风骚。在商业化的进程中，美国的产业界与教育界越来越紧密地结合，信息学科中的许多泰山北斗同时身处科研和教学的最前线，由此而产生的经典科学著作，不仅擘划了研究的范畴，还揭示了学术的源变，既遵循学术规范，又自有学者个性，其价值并不会因年月的流逝而减退。

近年，在全球信息化大潮的推动下，我国的信息产业发展迅猛，对专业人才的需求日益迫切。这对我国教育界和出版界都既是机遇，也是挑战；而专业教材的建设在教育战略上显得举足轻重。在我国信息技术发展时间较短的现状下，美国等发达国家在其信息科学发展的几十年间积淀和发展的经典教材仍有许多值得借鉴之处。因此，引进一批国外优秀教材将对我国教育事业的发展起到积极的推动作用，也是与世界接轨、建设真正的世界一流大学的必由之路。

机械工业出版社华章公司较早意识到“出版要为教育服务”。自1998年开始，我们就将工作重点放在了遴选、移译国外优秀教材上。经过多年的不懈努力，我们与Pearson、McGraw-Hill、Elsevier、John Wiley & Sons、CRC、Springer等世界著名出版公司建立了良好的合作关系，从它们现有的数百种教材中甄选出Alan V. Oppenheim、Thomas L. Floyd、Charles K. Alexander、Behzad Razavi、John G. Proakis、Stephen Brown、Allan R. Hambley、Albert Malvino、Peter Wilson、H. Vincent Poor、Hassan K. Khalil、Gene F. Franklin、Rex Miller等大师名家的经典教材，以“国外电子与电气工程技术丛书”和“国外工业控制与智能制造丛书”为系列出版，供读者学习、研究及珍藏。这些书籍在读者中树立了良好的口碑，并被许多高校采用为正式教材和参考书籍。其影印版“经典原版书库”作为姊妹篇也越来越多被实施双语教学的学校所采用。

权威的作者、经典的教材、一流的译者、严格的审校、精细的编辑，这些因素使我们的图书有了质量的保证。随着电气与电子信息学科、自动化、人工智能等建设的不断完善和教材改革的逐渐深化，教育界对国外电气与电子信息类、控制类、智能制造类等相关教材的需求和应用都将步入一个新的阶段，我们的目标是尽善尽美，而反馈的意见正是我们达到这一终极目标的重要帮助。华章公司欢迎老师和读者对我们的工作提出建议或给予指正，我们的联系方法如下：

华章网站：www.hzbook.com

电子邮件：hzjsj@hzbook.com

联系电话：（010）88379604

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  Preface

The term mechatronics was ‘invented’ by a Japanese engineer in 1969, as a combination of ‘mecha’ from mechanisms and ‘tronics’ from electronics. the word now has a wider meaning, being used to describe a philosophy in engineering technology in which there is a co-ordinated, and concurrently developed, integration of mechanical engineering with electronics and intelligent computer control in the design and manufacture of products and processes. as a result, many products which used to have mechanical functions have had many replaced with ones involving microprocessors. this has resulted in much greater flexibility, easier redesign and reprogramming, and the ability to carry out automated data collection and reporting.  a consequence of this approach is the need for engineers and technicians to adopt an interdisciplinary and integrated approach to engineering. thus engineers and technicians need skills and knowledge that are not confined to a single subject area. they need to be capable of operating and communicating across a range of engineering disciplines and linking with those having more specialised skills. this book is an attempt to provide a basic background to mechatronics and provide links through to more specialised skills.   the first edition was designed to cover the Business and technology education council (Btec) Mechatronics units for higher national certificate/Diploma courses for technicians and designed to fit alongside more specialist units such as those for design, manufacture and maintenance determined by the application area of the course. the book was widely used for such courses and has also found use in undergraduate courses in both Britain and in the United states. Following feedback from lecturers in both Britain and the United states, the second edition was considerably extended and with its extra depth it was not only still relevant for its original readership but also suitable for undergraduate courses. the third edition involved refinements of some explanations, more discussion of microcontrollers and programming, increased use of models for mechatronics systems, and the grouping together of key facts in the appendices. the fourth edition was a complete reconsideration of all aspects of the text, both layout and content, with some regrouping of topics, movement of more material into appendices to avoid disrupting the flow of the text, new material – in particular an introduction to artificial intelligence, more case studies and a refinement of some topics to improve clarity. also, objectives and key point summaries were included with each chapter. the fifth edition kept the same structure but, after consultation with many users of the book, many aspects had extra detail and refinement added.  

The sixth edition has involved a restructuring of the constituent parts of the book as some users felt that the chapter sequencing did not match the general teaching sequence. thus the new edition has involved moving the system models part so that it comes after microprocessor systems. other changes include the inclusion of material on arduino and the addition of more topics in the Mechatronics systems chapter.the overall aim of the book is to give a comprehensive coverage of mechatronics which can be used with courses for both technicians and  undergraduates in engineering and, hence, to help the reader:

·acquire a mix of skills in mechanical engineering, electronics and computing which is necessary if he/she is to be able to comprehend and design mechatronics systems;

·become capable of operating and communicating across the range of engineering disciplines necessary in mechatronics;

·be capable of designing mechatronic systems.

each chapter of the book includes objectives, and a summary, is copiously  illustrated and contains problems, answers to which are supplied at the end of the book. chapter 24 comprises research and design assignments together with clues as to their possible answers.

the structure of the book is:

·Chapter 1 is a general introduction to mechatronics;

·Chapters 2–6 form a coherent block on sensors and signal conditioning;

·Chapters 7–9 cover actuators;

·Chapters 10–16 discuss microprocessor/microcontroller systems;

·Chapters 17–23 are concerned with system models;

·Chapter 24 provides an overall conclusion in considering the design of mechatronic systems.

an instructor’s Guide, test material and Powerpoint slides are available for lecturers to download at: www.pearsoned.co.uk/bolton

a large debt is owed to the publications of the manufacturers of the equipment referred to in the text. i would also like to thank those reviewers who painstakingly read through the fifth edition and made suggestions for improvements.

W. Bolton

  Contents

Preface   xi

I.    Introduction     1

1.   Introducing mechatronics     3

chapter objectives     3

1.1   What is mechatronics?     3

1.2   the design process     5

1.3   systems     6

1.4   Measurement systems     8

1.5   control systems     9

1.6   Programmable logic controller     21

1.7   examples of mechatronic systems     22

summary     25

Problems     26

II.   Sensors and signal conditioning     27

2.   Sensors and transducers     29

chapter objectives     29

2.1   sensors and transducers     29

2.2   Performance terminology     30

2.3   Displacement, position and proximity     35

2.4   Velocity and motion     46

2.5   Force     49      2.6

Fluid pressure     50

2.7   Liquid flow     54

2.8   Liquid level     55

2.9   temperature     56

2.10   Light sensors     61

2.11   selection of sensors     62

2.12   inputting data by switches     63

summary     65

Problems     66   

3.   Signal conditioning     69

chapter objectives     69

3.1   signal conditioning     69

3.2   the operational amplifier     70

3.3   Protection     81

3.4   Filtering     83

3.5   Wheatstone bridge     84

3.6   Pulse modulation     88

3.7   Problems with signals     89

3.8   Power transfer     92

summary     92

Problems     93

4.   Digital signals     95

chapter objectives     95

4.1   Digital signals     95

4.2   analogue and digital signals     95

4.3   Digital-to-analogue and analogue-to-digital converters     99

4.4   Multiplexers     105

4.5   Data acquisition     106

4.6   Digital signal processing     109

summary     110

Problems     110

5.   Digital logic     112

chapter objectives     112

5.1   Digital logic     112

5.2   Logic gates     113

5.3   applications of logic gates     120

5.4   sequential logic     126

summary     133

Problems     133   

 6. Data presentation systems 136

chapter objectives 136

6.1 Displays 136

6.2 Data presentation elements 137

6.3 Magnetic recording 142

6.4 optical recording 146

6.5 Displays 147

6.6 Data acquisition systems 151

6.7 Measurement systems 155

6.8 testing and calibration 158

summary 160

Problems 160

III. Actuation 163

7.  Pneumatic and hydraulic actuation  systems 165

chapter objectives 165

7.1 actuation systems 165

7.2 Pneumatic and hydraulic systems 165

7.3 Directional control valves 169

7.4 Pressure control valves 173

7.5 cylinders 175

7.6 servo and proportional control  valves 178

7.7 Process control valves 180

7.8 rotary actuators 185

summary 186

Problems 186

8. Mechanical actuation systems 188

chapter objectives 188

8.1 Mechanical systems 188

8.2 types of motion 189

8.3 Kinematic chains 191

8.4 cams 194

8.5 Gears 196

8.6 ratchet and pawl 200

8.7 Belt and chain drives 200

8.8 Bearings 202

summary 204

Problems 205

 9. Electrical actuation systems 207

chapter objectives 207

9.1 electrical systems 207

9.2 Mechanical switches 207

9.3 solid-state switches 209

9.4 solenoids 215

9.5 Direct current motors 217

9.6 alternating current motors 225

9.7 stepper motors 227

9.8 Motor selection 234

summary 237

Problems 237

IV. Microprocessor systems 239

10. Microprocessors and microcontrollers 241

chapter objectives 241

10.1 control 241

10.2 Microprocessor systems 241

10.3 Microcontrollers 253

10.4 applications 272

10.5 Programming 274

summary 277

Problems 277  

11. Assembly language 278

chapter objective 278

11.1 Languages 278

11.2 instruction sets 279

11.3 assembly language programs 285

11.4 subroutines 290

11.5 Look-up tables 293

11.6 embedded systems 296

summary 300

Problems 300  

12. C language 302

chapter objectives 302

12.1 Why c? 302

12.2 Program structure 302

12.3 Branches and loops 309

12.4 arrays 313

12.5 Pointers 315

12.6 Program development 316

12.7 examples of programs 317

12.8 arduino programs 320

summary 323

Problems 324  

13. Input/output systems 326

chapter objectives 326

13.1 interfacing 326

13.2 input/output addressing 326

13.3 interface requirements 329

13.4 Peripheral interface adapters 336

13.5 serial communications interface 341

13.6 examples of interfacing 344

summary 347

Problems 348  

14. Programmable logic controllers 349

chapter objectives 349

14.1 Programmable logic controller 349

14.2 Basic PLc structure 349

14.3 input/output processing 353

14.4 Ladder programming 354

14.5 instruction lists 358

14.6 Latching and internal relays 361

14.7 sequencing 363

14.8 timers and counters 364

14.9 shift registers 367

14.10 Master and jump controls 368

14.11 Data handling 369

14.12 analogue input/output 371

summary 373

Problems 374  

15. Communication systems 376

chapter objectives 376

15.1 Digital communications 376

15.2 centralised, hierarchical and distributed  control 376

15.3 networks 379

15.4 Protocols 381

15.5 open systems interconnection  communication model 382

15.6 serial communication interfaces 385

15.7 Parallel communication interfaces 391

15.8 Wireless protocols 394

summary 395

Problems 395  

16. Fault finding 397

chapter objectives 397

16.1 Fault-detection techniques 397

16.2 Watchdog timer 398

16.3 Parity and error coding checks 399

16.4 common hardware faults 400

16.5 Microprocessor systems 402

16.6 emulation and simulation 405

16.7 PLc systems 407

summary 409

Problems 410

V. System models 411

17. Basic system models 413

chapter objectives 413

17.1 Mathematical models 413

17.2 Mechanical system building blocks 414

17.3 electrical system building blocks 422

17.4 Fluid system building blocks 426

17.5 thermal system building blocks 433

summary 436

Problems 437  

18. System models 439

chapter objectives 439

18.1 engineering systems 439

18.2 rotational–translational systems 439

18.3 electro-mechanical systems 440

18.4 Linearity 443

18.5 hydraulic–mechanical systems 445

summary 448

Problems 448

   19. Dynamic responses of systems 449

chapter objectives 449

19.1 Modelling dynamic systems 449

19.2 terminology 450

19.3 First-order systems 452

19.4 second-order systems 458

19.5 Performance measures for second-order  systems 464

19.6 system identification 467

summary 467

Problems 469  

20. System transfer functions 471

chapter objectives 471

20.1 the transfer function 471

20.2 First-order systems 474

20.3 second-order systems 476

20.4 systems in series 478

20.5 systems with feedback loops 479

20.6 effect of pole location on transient response 480

summary 484

Problems 484  

21. Frequency response 486

chapter objectives 486

21.1 sinusoidal input 486

21.2 Phasors 487

21.3 Frequency response 489

21.4 Bode plots 492

21.5 Performance specifications 501

21.6 stability 502

summary 503

Problems 504

22. Closed-loop controllers 505

chapter objectives 505

22.1 continuous and discrete control processes 505

22.2 terminology 507

22.3 two-step mode 509

22.4 Proportional mode 510

22.5 Derivative control 512

22.6 integral control 514

22.7 PiD controller 516

22.8 Digital controllers 517

22.9 control system performance 520

22.10 controller tuning 521

22.11 Velocity control 523

22.12 adaptive control 523

summary 526

Problems 527

23. Artificial intelligence 528

chapter objectives 528

23.1 What is meant by artificial intelligence? 528

23.2 Perception and cognition 528

23.3 reasoning 530

23.4 Learning 533

summary 534

Problems 534

VI. Conclusion 535

24. Mechatronic systems 537

chapter objectives 537

24.1 Mechatronic designs 537

24.2 case studies 548

24.3 robotics 563

summary 567

Problems 567

research assignments 568

Design assignments 568

Appendices 569

A The Laplace transform 571

a.1 the Laplace transform 571

a.2 Unit steps and impulses 572

a.3 standard Laplace transforms 574

a.4 the inverse transform 578 Problems 580

 B Number systems 581

B.1 number systems 581

B.2 Binary mathematics 582

B.3 Floating numbers 585

B.4 Gray code 585

Problems 586

C Boolean algebra 587

c.1 Laws of Boolean algebra 587

c.2 De Morgan’s laws 588

c.3 Boolean function generation from truth tables 589

c.4 Karnaugh maps 591

Problems 594

D Instruction sets 596

 E C library functions 601

F MATLAB and SIMULINK 604

F.1 MatLaB 604

F.2 siMULinK 608

G Electrical circuit analysis 610

G.1 Direct current circuits 610

G.2 alternating current circuits 615

Further information 620

answers 624

index 639