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2.2.1 Free Body Diagrams
2.2.2 Mass and Inertia
2.2.3 Gravity And Other Fields
2.2.5 Damping and Drag
2.2.6 Cables And Pulleys
2.2.8 Contact Points And Joints
3. ANALYSIS OF DIFFERENTIAL EQUATIONS
3.3.1 First-order
3.5.1 Non-Linear Differential Equations
3.5.2 Non-Linear Equation Terms
3.5.3 Changing Systems
4.2.1 State Variable Form
4.3.1 Numerical Integration With Tools
4.3.2 Numerical Integration
4.3.4 Runge-Kutta Integration
4.5 DIFFERENTIATION AND INTEGRATION OF EXPERIMENTAL DATA
4.6.1 Switching Functions
4.6.2 Interpolating Tabular Data
4.6.3 Modeling Functions with Splines
4.6.4 Non-Linear Elements
5.2.7 Permanent Magnet Electric Motors
6.2 THE DIFFERENTIAL OPERATOR
6.3.1 Converting Input-Output Eqautions to State Equations
6.3.2 Integrating Input-Output Eqautions
7.2.2 Voltage and Current Sources
7.5 PERMANENT MAGNET DC MOTORS
in Figure 201
7.7 BRUSHLESS SERVO MOTORS
8.3.1 PID Control Systems
8.3.2 Manipulating Block Diagrams
8.3.3 A Motor Control System Example
8.3.5 Controller Transfer Functions
8.3.6 State Variable Control Systems
8.3.7 Feedforward Controllers
9.2 FOURIER TRANSFORMS FOR STEADY-STATE ANALYSIS
10.6 LOG SCALE GRAPH PAPER
11. ROOT LOCUS ANALYSIS
11.1 INTRODUCTION
11.2 ROOT-LOCUS ANALYSIS
11.3 SUMMARY
11.4 PRACTICE PROBLEMS
13.1 INTRODUCTION
13.3 ANALOG OUTPUTS
13.4 SHIELDING
13.5 SUMMARY
13.6 PRACTICE PROBLEMS
14. CONTINUOUS SENSORS
14.1 INTRODUCTION
14.2 INDUSTRIAL SENSORS
14.2.1 Angular Displacement
14.2.2 Encoders
14.2.3 Linear Position
14.2.3.2 - Linear Variable Differential Transformers (LVDT)
14.2.4 Forces and Moments
14.2.5 Liquids and Gases
14.2.6 Temperature
14.2.6.1 - Resistive Temperature Detectors (RTDs)
14.2.7 Light
14.3 INPUT ISSUES
14.4 SENSOR GLOSSARY
14.5 SUMMARY
14.6 REFERENCES
14.7 PRACTICE PROBLEMS
15. CONTINUOUS ACTUATORS
15.1 INTRODUCTION
15.2 ELECTRIC MOTORS
15.2.1 Brushed DC Motors
15.2.2 AC Synchronous Motors
15.2.3 Brushless DC Motors
15.2.4 Stepper Motors
15.3 HYDRAULICS
15.4 OTHER SYSTEMS
15.5 SUMMARY
15.6 PRACTICE PROBLEMS
16. MOTION CONTROL
16.1 INTRODUCTION
16.2 MOTION PROFILES
16.3 MULTI AXIS MOTION
16.3.1 Slew Motion
16.3.2 Motion Scheduling
16.4 SUMMARY
16.5 PRACTICE PROBLEMS
17. ELECTROMECHANICAL SYSTEMS
17.1 INTRODUCTION
17.2 MATHEMATICAL PROPERTIES
17.2.1 Induction
17.3 EXAMPLE SYSTEMS
17.4 SUMMARY
17.5 PRACTICE PROBLEMS
18. FLUID SYSTEMS
18.1 SUMMARY
18.2 MATHEMATICAL PROPERTIES
18.2.1 Resistance
18.2.2 Capacitance
20.2 THE LAPLACE TRANSFORM
20.2.1 A Few Transforms
20.2.2 Impulse Response (or Why Laplace Transforms Work)
20.3 MODELING MECHANICAL SYSTEMS
20.4 MODELING ELECTRICAL SYSTEMS
20.5 USING LAPLACE TRANSFORMS
20.5.1 Solving Partial Fractions
20.5.2 Input Functions
20.5.3 Examples
20.6 A MAP OF TECHNIQUES FOR LAPLACE ANALYSIS
20.7 NON-LINEAR ELEMENTS
20.8 SUMMARY
20.9 PRACTICE PROBLEMS
20.10 REFERENCES
21. CONTROL SYSTEM ANALYSIS
21.1 INTRODUCTION
21.2 CONTROL SYSTEMS
21.2.1 PID Control Systems
21.2.2 Analysis of PID Controlled Systems With Laplace Transforms
21.2.3 Finding The System Response To An Input
21.2.4 Controller Transfer Functions
21.3 ROOT-LOCUS PLOTS
21.3.1 Approximate Plotting Techniques
21.4 DESIGN OF CONTINUOUS CONTROLLERS
21.5 SUMMARY
21.6 PRACTICE PROBLEMS
22. LABORATORY GUIDE
22.1 Lab 1 - Introduction to Resources and Tutorials
22.1.1 Tutorial 1a - Creating Web Pages
22.1.2 Tutorial 1b - Introduction to Mathcad, Working Model 2D and
The Internet
22.1.3 Presentation 1a - Introduction to Library Searches
22.2 Lab 2 - Computer Based Data Collection
22.2.1 Prelab 2a - Tutorial for LabVIEW Programming
22.2.2 Prelab 2b - Overview of Labview and the DAQ Cards
22.2.3 Experiment 2 - Introduction to LabVIEW and the DAQ Cards
22.3 Lab 3 - Sensors and More Labview
22.3.1 Prelab 3 - Sensors
22.3.2 Experiment 3 - Measurement of Sensor Properties
22.4 Lab 4 - Motors
22.4.1 Prelab 4a - Permanent Magnet DC Motors
22.4.2 Experiment 4a - Modeling of a DC Motor
22.5 Lab 5 - Basic Control Systems
22.5.1 Prelab 6a - Servomotor Proportional Control Systems
22.5.2 Experiment 5a - Servomotor Proportional Control Systems
22.6 Lab 6 - Basic System Components
22.6.1 Prelab 6a - Mechanical Components
22.6.2 Experiment 6a - Mechanical Components
22.7 Lab 7 - Oscillating Systems
22.7.1 Prelab 7a - Oscillating Systems
22.7.2 Experiment 7a - Oscillation of a Torsional Spring
22.8 Lab 8 - Servo Control Systems
22.8.1 Prelab 5a - Research
22.8.2 Experiment 5a - Tutorial and programming
22.9 TUTORIAL - ULTRA 5000 DRIVES AND MOTORS
22.10 Lab 9 - Filters
22.10.1 Prelab 9 - Filtering of Audio Signals
22.10.2 Experiment 9 - Filtering of Audio Signals
22.11 Lab 10 - Stepper Motors
22.11.1 Prelab 10 - Stepper Motors
22.11.2 Experiment 9 - Stepper Motors
22.12 TUTORIAL - STEPPER MOTOR CONTROLLERS (by A. Blauch and H. Jack)
22.13 Lab 11 - Variable Frequency Drives
22.13.1 Prelab 11 - Variable Frequency Drives
22.13.2 Experiment 11 - Variable Frequency Drives
22.14 TUTORIAL - ALLEN BRADLEY 161 VARIABLE FREQUENCY DRIVES
22.15 TUTORIAL - ULTRA 100 DRIVES AND MOTORS
22.16 TUTORIAL - DVT CAMERAS (UPDATE FROM 450???)
23. WRITING REPORTS
23.1 WHY WRITE REPORTS?
23.2 THE TECHNICAL DEPTH OF THE REPORT
23.3 TYPES OF REPORTS
23.3.1 Laboratory
23.3.1.1 - An Example First Draft of a Report
23.3.1.2 - An Example Final Draft of a Report
23.3.2 Research
23.3.4 Executive
23.3.5 Consulting
23.3.6 Interim
23.4 ELEMENTS
23.4.1 Figures
23.4.2 Tables
23.4.3 Equations
23.4.4 Experimental Data
23.4.5 Result Summary
23.4.6 References
23.4.7 Acknowledgments
23.4.8 Appendices
23.5 GENERAL FORMATTING
24. MATHEMATICAL TOOLS
24.1 INTRODUCTION
24.1.1 Constants and Other Stuff
24.1.2 Basic Operations
24.1.3 Exponents and Logarithms
24.1.4 Polynomial Expansions
24.1.5 Practice Problems
24.2 FUNCTIONS
24.2.1 Discrete and Continuous Probability Distributions
24.2.2 Basic Polynomials
24.2.3 Partial Fractions
24.2.4 Summation and Series
24.2.5 Practice Problems
24.3.2 Hyperbolic Functions
24.3.3 Geometry
24.3.4 Planes, Lines, etc
24.3.5 Practice Problems
24.4 COORDINATE SYSTEMS
24.4.1 Complex Numbers
24.4.2 Cylindrical Coordinates
24.4.3 Spherical Coordinates
24.4.4 Practice Problems
24.5 MATRICES AND VECTORS
24.5.1 Vectors
24.5.2 Dot (Scalar) Product
24.5.3 Cross Product
24.5.4 Triple Product
24.5.5 Matrices
24.5.6 Solving Linear Equations with Matrices
24.5.7 Practice Problems
24.6 CALCULUS
24.6.1 Single Variable Functions
24.6.5 Practice Problems
24.7 NUMERICAL METHODS
24.7.1 Approximation of Integrals and Derivatives from Sampled Data
24.7.2 Euler First-order Integration
24.7.3 Taylor Series Integration
24.7.4 Runge-Kutta Integration
24.7.5 Newton-Raphson to Find Roots
24.8 LAPLACE TRANSFORMS
24.8.1 Laplace Transform Tables
24.9 z-TRANSFORMS
24.10 FOURIER SERIES
24.11 TOPICS NOT COVERED (YET)
24.12 REFERENCES/BIBLIOGRAPHY
25. A BASIC INTRODUCTION TO ‘C’
25.1 WHY USE ‘C’?
25.2 BACKGROUND
25.3 PROGRAM PARTS
25.4 HOW A ‘C’ COMPILER WORKS
25.5 STRUCTURED ‘C’ CODE
25.6 ARCHITECTURE OF ‘C’ PROGRAMS (TOP-DOWN)
25.7 CREATING TOP DOWN PROGRAMS
25.8 HOW THE BEAMCAD PROGRAM WAS DESIGNED
25.8.1 Objectives:
25.8.2 Problem Definition:
25.8.3 User Interface:
25.8.4 Flow Program:
25.8.5 Expand Program:
25.8.6 Testing and Debugging:
25.8.7 Documentation
25.9 PRACTICE PROBLEMS
26. UNITS AND CONVERSIONS
26.1 HOW TO USE UNITS
26.2 HOW TO USE SI UNITS
26.3 THE TABLE
26.4 ASCII, HEX, BINARY CONVERSION
26.5 G-CODES
27. ATOMIC MATERIAL DATA
28. MECHANICAL MATERIAL PROPERTIES
28.1 FORMULA SHEET
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Dynamic System Modelling and Control

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02/23/2014

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