MECHATRON, 00018 765 SABRI CETINKUNT University of Mn at Chica GUC Library ® iiiAsweciae ibe Dan Soe Astin Ee rh Maine ame tok Srl Desgner Revi apy Seni tata Eo Sand Malowts a Acct Ny Atrrattee ‘hk wa tne orn by tn rt ed bt yon Ping ‘The cover was primed by Phoenix Colle ” Trebooklspiedon acdc pope ‘Cori © 207 Stn Wy & Sans, Te A hts sere eet i bein a Ye epoe redineiaem t anstd y y y Seton 10118 i 197 United Stas Cops Ac ito eer poisson ef he bias reno hoagh pment of eye pey fe the Copy Crane Cry, tae, 22 Rowen Div, Dar MA 0925s mvcppptcom, Req ote bin ein nl aie te Peis Depron, Jn Wy & Sos 11 Rie Sel Seta, 030574, 2) 284011, et) 3.0, wee wow wie) copes ‘oower boas or fr cater seri pie al LAOOCALL WEY (2255845, {vary of Congress Callsign Pabition Daas ‘Mechanica Cakat. Inches biiograpieeterece nd is, ISanei3 9704787 ow) 1 Mechonen 1 Tie ati nse Pied ne Utd Se of Amen PREFACE ww MECHATRONICS 4 12 Case Sty: Modeling and Coma of (Combustion Engines 13 121) Diesel Engine Components 14 122. Engine Cenol Stem Component 12.3. Bagine Modeling with Lng Cure 124. Brine Consol Algritne Engine Speed Regulation Using Fact Nap anda Propotonl Cont Agate 13° Problems 26 21 Components of Digital Cont System 30 22 The Sampling Operation aod Signal Reconsiucton a2 221 Sampling: MD Operation 22 222 ‘Sampling Creat az 2233 Nathemitcl Mesltion of the Sampling Crit 94 224 Signa Reconstucson: DYA Operation 39 225. Real-Time Conv! Updste Metts snd Time-Deay 42 226 Ficsing and Bandwidth ses 4 23 Open-Loop Control vests Casi Loop, CContol #6 2A ResformanceSpecifestions for Cniol Systems 33 25 Tine Domain nd Dorin Conlationat Signals st 7251 Selection of Pols Locations 62 252 Step Respone of Secont-Oner ‘Sym 82 253. Stand Fiters 56 254 Sealy Sate Rese 56 26 Subily of Dynamic Systems st 26.1 Bounded Input-Bounded Output Sabiy cLoseD. 1007 CONTROL_29 2.7 The Root Locte Method e@ 28 Base Feeback Contol Types 64 281 Properional Coural_ 67 282 Derivative Coro! 08 283 ImegalConmel 6 284 PICemot 70 285 PD Coctod 72 286 PID Contol 72 29° Translation of Analog Cone! to Digital Contat 74 201 Fie Dillrece Approximations 2.40. Problems 78 CHAPTER 3 MECHANISMS FORMOTION TRAASMISSION 94 11 Intrtuction at 32 Rotry-io-Rowry Metion Trasnision Mechanisms. #4 321 Gears 2 522 Welt nd Paley 33° Rotay-to-Traslational Motion Tansmision Mechanisms. #7 33.1 Lead Stow and Bal Sew Mechanisms 7 332. Rackand Pion Mecrsim 69 333 Beleand Pulley” 90 SA Cyeie Motion Tansmisien Mestanisas 3 341 Linkages 342. Cams 92 35 Shaft Misalignnents and Feuble Couplings 36° Acs Sizing 102 ‘361 Inert Mach Retwoen Mitor ad Koad 108 37 Homogeneous Tarsfomatcn Matrices 38 Problem CHAPTERS MICROCONTROLLERS 129 411 Binbedded Computers versusNomembedled Computers 123 411 Design Steps of an Embed Micreontollee Based Mechatronic System 128)a2 a yy as 4.1. MlcrocontoerDevelpment Tol, 4.13 Miroontoler Deeopment Tol for BIC 186482 a37 Basic Computer Model 129, ‘Micrel Harvard Softwar: PIC Iss 3 {kL Micon Hardware 199 432. Merorctsor Softw 137 123 UO Rpbenisof PICTREAS2 399 cg 44, 1 Geacral Fests of Inropts a5, 442. Imerplson PIC T8RIS2 he? Probleme te ELECTRONIC COMPONENTS FOR MECHATRONIC SYSTEMS 193 51 52 53 sa ss 56 sa se 59 [sles of Line Ccuts 459 Byuivalen Electrical Grcut Methods 156 S31 Thovenin's Equivalent Cicuit 197 532. Norton's Equivalent Cicuit 167 Ingetnce 360 Sut} Concept of impedance 160 542 Amplier Osim, input lnpecance, ‘1 Outputtmpedance 169 Inet an Outpt Loading Ercas SemicondacorElcronic Devices 196 ‘$5.1 Semicondior Motes oe 552 Diodes 160 553 Tansisors 172 Operations Ampliiers 163 ‘S61 Baie Op-Amp 184 562 Common Op-AmpCircaits 188, Digital Electonie Devices 209 S71 Logie Devices 201 512 Dovoders 208 573. Mutiplesce 202 S74. RipPlops. 208 Digit and Analog UO and Thee Comper Interface 200 YA and AD Converters and Their Compote Intertace 208 543 50. Probleme 24 HAPTER SENSORS 247 a 62 a 6s TImndicton to Measurement Devices 247 Measarerent Device Loading rors 220 ‘Wheatstone Bridge Cieuit 222 G31 Nell Method 723 632. Deflection Method 229 Poston Sensors 225 GAL Potesometer 225 64a 43 faa a3 as. LYDI Resolver andSycro 227 Encore 232 Ul Efet Senor 287 Capave Gap Senses 230 Maptestaction Poston Sensors Sonic Ditance Sensis 240 Photoleee Distance an Presence ‘Semon 241 Presence Sensors: ONOFF Sensors 65 Velocity Sensor 208 O51 Tachometer 248 652 Digja Destin of Veecty rom Poston Signal 287 66 Accoeraton Semon 240 (861 Inerat Accelerometers 249 662 Plesoclecre Accelerometers 252 G63. Strain. Gauge Based Acceleomeres 647 a8 649 67 Sain Force and Toque Sensors 254 671 Stain Oauzes 208 672 Forceand Torque Sensors 206 68 Presure Semon 259 CkI” Danae Bae ess 22 Sinn Gage Bos Presse Snr 683, Pesce aed rie Ser 84, Coptic Reed Prose Ses 69° Temperature Sensors 263 6911 Temperanve Sensors Based on Dimensional Change 204 692 Tempertue Senor Basel on Resistince 268 693 Thermocouples 265 low Rate Sensors 267 6.101 Mechel low Rate Sensors 267 66102 Differ Pessre Flow Rate Sensors 269 6103 Thermal Flow Rate Sensors: Hot 6104. Mase Flow Rite Sensor Coriolis Flow Meer: 272 611 Hum Sensor 272 6:12 Vis Systems 279 613 Problems 277 610 ‘enapren 7 _ELECTROHYDRAULICMOTION CONTROL SYSTEMS 201 7 arcion 201 ‘TLL Pandamental Physical Principles 12 1B 4 1s 16 a 8 19 710 mm a AND DRIVE TECHNOLOGY 393 TAL2_Amlogy Between Hyde and lecticl Components "298 73. Baergy Loss and Pressure Deep in Hydra Circuits 290 ‘yaralic Pumps. 308 721. Types Psive Displacement Pumps 309 122 PumpPeromance 307 123 PumpCousel 319 ycuie Aetator=: Hydretie Cinder and Roury Motoe 320 ycrulie Vales 224 Tat Prone Canto Valves 220 742 Example: Molafoncton Hydraulic Circuit with Poppe Valves 330 Flow Contol Valves "382 [ample A Mlifincton yas Gott Using Post Presse Compenstel Proportional Valves Directional Foe Control Waves: Propertioa td Servo Vales 300 Mosnting of Valves in 9 roa Gacut ae Peformance Characters of Proportional and Servo Vales 362 Sing of tiyaavle Metion Sytem Composens 380 [EH Motion Ass Nitra Frequency and Bandwidth Lint 374, Linea Dyraie Mosel of One Ass yiue Maton Sten 373 771. Posiion Comlied Electrxyératic ‘Motion Axe 375 172. Lond Presse Contralied lecrodyelic Motion Aes 370 ‘Nonlinear Dynan Model of Hyde Modion Sytem 379 ‘Curent Tens in Fecwohydralis 381 “740.1 Case Study: Matifunetion ysl (Grew of& Gaepillar Whe Loader maa mas 1468 at ELECTRIC ACTUATORS: MOTOR ‘BLT Seady-Stte Torque SpeodRange, Regeneration and Power Dp, lecsc Fis nd Magnet Fields Permanent Magnetic Mates. 4¥2 S12 813 12 Solenoite a9 21 Operating Principles of Salers 822 DC Solenoid; Eectmechans) Dynamic Model 2 83 DCSenw Motors and Drives 498 31 Operating Pcie of DC Métore 832. Dives forDC Bret Type and Brichless Motors 498 4 AC Induction Motors ai Dives 447 SAAC Induction MotcrOpenting Principles aaa B42. DrivesforACIution Motors 484 BS SepMowrs 61 ‘85.1 Basie Stepper Mot Openting Principles "463 452. Step MoterDrives 408 116 Switched Reluctance Motor an Dives 478 BOL Switched Reucaoe Motors 471 62 _SR Motor Conta Sytem CComponcnss: Dave 478 87 Linear Mors 478 88 DC Mote: Electromechanisl Dymmie 881 Voltage Amplifer Dnen DC Motor 882 Current Amplifer Driven DC Motor 883 Steady-State Touuespeed (Characteristics oa DE Mar under Constant Terminal huge "488 ‘Steady-State Tomue Speed Characteristics ofa DC Mor end Coren Ampier 486 89° Energy Losses in Flecre Motos 08 491 Resistance Loses 09 £92 Core Loses 400 89.3 Frton and Winge Losses 494 Problems 404 suo HAPTER PROGRAMMABLE LOGIC CONTROLLERS 490 91 toduetion 92 Hardware Components of PLCS. 428 921 PLC, CPU, and VO Cepailties 922 Opo-Lolted Dice lop and ‘Ontput Moles 02 923 Relays, Consctor,Sters 02 924 Coontersand Timers 508 9.3 Propramsning of PLCS eos 931. Hardwired Seat Cit 509 94 PLCContol Sytem Applestns $40os 96 PLC Apphcation Example: Comeyor and Funct Coutol 014 Problems "ste Ccuarren 10 PROGRAMMABLE MOTION CONTROL SYSTEMS 515 04 102 103 10s ros 106 107 Tnotacion 545 Design Methodology for PMC Systems 520 ‘Motion Contller Harare and Software Basi Singl-Auis Motions 622 Coordinated Motion Comtl Methods 526 105.1 Poit-to-Point Sytronized Mion 10152 Fleeoni Gearing Coodinted 1053 CAM Profile and Contouring {Cooniated sion 531 105A Senor Based Real Time Coordinated Motion 532 Coorinsted Mion Applications sa 1081 Neb Handling with Regiseation Mark 932 1082 Web'Tesion Control Using iecwoni Gearing 999 10.83. Smart Conveyors 539 Problews saa AwPencix A TABLES naz appenonx MODELING AND SIMULATION OF DYNAN BL Ba BS SYSTEMS a9 Modeling of Dynamic Sytem 649 CCompes Varabes $80 Laplace Tasforms 552 BLL Definition of Lapace Testor 183.2 Propecties of he Laplace esteem B33, Laplace Tansforms of Somme Common Funct 58 Parl Fraction Expansions 662 BA Fourie Sercs, Fuser Transfons, and Prequency Response 566 BALL Basics of Pegueney Response Meaning of Frequeney Response 1BA2_ Relationship Berwoen he Frequency Response and Transfer Function B43. Domain Inerpretation of Frowsney Response 873, 1.64 Bxperment) Determination of requene Response 574 BAS Grapicl Representtion of Frequeney Response 574 1B) TeansferPuntion and impolie Response Relation 578 6 Comlition 579 RY Review of Difeental Equations 564 B71. Definions 681 B72 Syslemol Fine Onker ODEs se 873. Enlience and Unigoeness of the BS Linearization 908 BAT Liearitatn of Nontnear Functions BA2_ Lincanaton of Noninear ist Oder Differential Eqns B83 Lineaaaton of Malisinension ‘Nonlinear Differential Bgetons D9 Numerical Solvion ofO1D E+ Simalition of Dynamic Systems 50a 'RO.1 Numerical Methods for Solving ODEs sea 92 Nomercal Solution of ODEs sea B93. Time Donan Sialation of Dynamic Systems 901 18.10 Detail be Sluion for Example om Page 1: RE and RC Cis 600 miaLiocRAPHY cor INDEX x4 ‘This book covers the fundamental scene principles and technologies that are used the design of modeen computercontolled machines and processes. Tay, the echnical back: ground necessary for an enginer to design an automated machine component, oe process is very diferent fom that of 30 yeas ago. The underlying difleence isthe availability ‘of embedded computers used to contra! sich machines. An automated machine designed 530 years ago would have complicated Bnkages and cams Wo define tbe cooninated motion telationship between different stations. Today, such elationships are defined in computer Control software. A computer controll clectromechanieal system designer not only needs to know proper mechanical design principles, bt also needs to know embeds computer control hardware and software, sensors in order to measure variables of intrest, and acto sion technologies. Many computer-aided design tool inal ofthese reas (i.e, mechanical design, em ‘bedded controller) make it posible fra designer tobe knowledgeable in all of hese areas ‘otheestet that he or she ean use them effectively in the design. Ts book shouldbe vse to senior undergradoate or first-year grafuate-lvel students as wellas practicing engineers ts purposes to present al the technicalbackground needed in designing an automated ma chine or process. These technical ayes cover traditionally differen engineering disciplines, ‘namely mechanical, aerospace, chemical, electrical, and computer engineering. The book has enough material for two semester coures. Its used for one semester course onl, itis advised that Chapters 1 shroagh 6 be covered fist, then some ofthe selected chapters ‘can be covered. Chapters 10 and 1 may be assigned asa sel stady © left as a eference for students. time permits, these chapters may be used asa basis For comprehensive lab projects where al aspects ofthe mechatonis fled are brought tether in modern design projects. The reader should be prepared to refer to other good reference books for more ‘etal in each topic covered. Because alarge numberof topics are covered under he topic ‘of mechattenis, the depth of coverage hadi be limited in one book. “The emphasis is the view of a design engineer: What does one need to knew about ‘component or subsystem in order to effectively use itn a design? While covering the undamental physical principles n each area, weskiphistorc perspectives and longreviews, ‘nd go straight into the discussion of relevant technology in its cent state-of-art form. We avoid long derivations or proofs. However, proper references are provided where the details ‘ofthe dervtions and proofs can be Found, In thie book, we do 04 yo find al answers t0 ‘he questions with equations and numbers. Quite often, we rely en “ele of tun design uldes and justify their validity with reasonable physics-based discussions. Goo design requires good understanding ofthe fundamental principles and god judgment. Examples ‘Oyoughout the text snd the problem assignments atthe end of each chapter are intended to ‘make he stent think of the design issues as opposed to requiring ihe student to make some ‘numerical calculations, Therefore, the reader should be prepared 9 consult other ference ‘books and especially supplier web pages to finda good solution (among multiple possible solutions) ta problem. ‘Atthe references section, we also provide information on the major soppiersof cifer cent products, A modem mechatronies engineer isa systems integration designer. is rarelythe case that al ofthe system components are designe from scratch fora design projec Quite often, the designer selects components and subsystems, ndten properly Jess thelr custom hardware and software integration. Publisher web site at ww wileycomcollege? «contro system designer needs to know the dsied behavior oF performance expected! fiom the system, The perfeemance specifications of a control system must cover cert. fundamental chracteristce sch as stability, quality of response, and robusires. Despit the great variety and richness of the contol dheory, more than 50% ofthe feedback con twoler in practice are the proportional integral-derivative (PID) type. Duct ts wide wsog® in pratice, PID con i considered a fundamental controller type. The FID cenit discussed i the lst section ofthis chapter The contoldecisions an be made citherby snanslogcontrolitcit in which sase controllers called an analog contoller. or by adgital computerin which casethecentrollet is called a digital conzlter. In analog, cont, the control decision rules ate designed ito th analog circuit hardware In digital contr, the control decision rules are coded 5 software, Thissoftware code implementing the conto decisions is called the digital control algoriton “The main advantages of digital contol over analog conto areas follows 1. Increased exile: changing the contol algorithm s a matter of changing the soft ‘war, Making software changesin digital contol is much easier than changing anal ccrcuit design in analog control 2. Increased level of decision-making capability: implementing nonlinear coal ane ‘ions, logical decision fonctions, conditional ations tobe taken, Ieartng from eX: petiace ean all be programme in software. Building asalog controllers with tbes® Capabilities would bea prohibitive task, if ot impesible. IKisimporint wo identify the place ofthe cont of dynamic systemsin heb pietux® ot contrtsystems. Keat-worldcontolsjstems involve many discrete event contols nvel¥, ing sequencing an lopie decisions. Discrete event contol refers othe contr logic based fn sensors which provide oaly ONOOFF signals ie. limit switches, proxiity sensors) tnd use aetuiors which have only a two-level sate, ONJOFF (.e., pacumsic cyinde™S controlled by an ONJOFF solenoid, relays. The sequence controllers use sensors and a tuators which have only an ON/OFF sate, and th control algodthm isa loge between t° ON/OFF sensors and ONIOFF actustors. Such controls are generally implemeated usies® programmable logic controllers (PLC) in the autonation industry. The servo coate loop> 2930 ‘nay be part of soch a contol system, Closed-loop servo control soften a subsystem ofthe Togie contol systems where servo and logic conto are hierarchically organized ‘A control system is called closed loop if the control decisions are made based on some sensor signals. Ifthe contol decisions do not take any sensor signal ofthe con trolled variables into account end decisions are made based on some predefined sequence ‘or operator commands, such a contol system i ealled open Toop. Tt has been long te ‘ognized tht using feed back information sense signals) about the controled variable in ‘determining the contol action provides robustness against the changing conaitons and disturbances 2.1_ COMPONENTS OF A DIGITAL CONTROL SYSTEM [Let us consider the control ofa process using (1) analog control (Fig. 21) and (2) digital ‘contol (Fig, 2.2) "The oly difference isthe controller bor. In aslog conto, al ofthe Signals ate continuous, whereas in digital control the sensor signals mist be convened {9 digital form, and the digital control decisions must be converted to analog signals to send tothe actuation system. “The basic components ofa digital controller are shown in Fig. 22: 1 Cental processing unit (CPU) for implementing the logic and mathematical contol algorithms (decision-making process) 2. Discrete state inpot and output devices (ie, switches and lamps) 3, Analog to digital converter (A/D oe PWM input) to convert the sensor signals from ‘analog to digital signals 4, Digital to analog convener (DVA or PWM output) to convert the contol decisions ‘made by the congo! algorithm in the cenial processing wit (CPU) tothe analog signal form so that it can be commanded to actvation system for amplification Samal Repeaters) * ra a FIGURE 2.1: Analog closod-4oop contol sytem snd the nature ofthe signa involve, 2) conponens OF ADIGTAL cowTaoLsvsrex 31 a }--[= ro ‘FIGURE 2.2: Digial closed-loop contol syst andthe nature of tho sina involved ‘5 Clock for controling the operation of the digital computer. Ths digital eomputer is a iserete device. and its operations are controlled by the clock eyele. The clock is for the computer what the heart i fra bods In Figure 22, tis shown that the signals travel from sensors to the cone computer in ‘analog for. Sin, the contol signals from the contoller tothe amplifie/actastor travel in analog form, The comersion of signal rom analog digital form (A/D converter) ‘occurs atthe contol computer end, Similaly, te conversion of dgitalsignaltoanalog signal ‘curs atthe contol computer end (DYA converte) and travels to the actors in analog form. Recent trends inthe computer-contolled systems are such tha he analog to digital and digital t analog conversion oceurs at the seasor and actutor point. Such seasors and fctuaors are marksted a “smart sensors” and “smart actuators" Tnihis approach, the signal leaves from sensor point contol computer, and from control computer tothe actuator point in digital form. Expecialy, the use of fiber-optic wansmission medium provides very high signal wansmission speed with high noise immunity. Italo simples the imerface ‘problems between the computes, sensors, and amplifies. In either eas, digital input and ‘output (DVDO), A/D, and DVA operations are needed in a computer contol system as interface between the digital word of computers and the analog worl of eal systems. The ‘exact location of the digital and analog imerfice functions ean vary from application 10 application Let us consider the operations performed by the components of a digital control ‘computer and their implications compared to analog contr: 1. Time delay associated with signal conversion (at A/D and DIA) and processing: (cru) 2. Sampling 3. Quantization 4. Reconstruction32. caurren2 cLosto.cor cornot ‘22 THe sauna orenanion ano SeNAL NEcoNETRUCKON 33 ‘The digital computer isa discrete event device. Itcan work with nite samples of signals, The sampling rate can be programmed based on the clock frequency. Every sampling period, the sensor signals re converted digital form by the A/D coaventr (he sapling ‘operation). Ifthe commard signals are generated from an external analog device it also ‘mustbe sampled. During the sare sampling period, control calculations mustbe performed, ‘nd the result must be sea out through the D/A converter. The A/D anid D/A conversions ‘ate finite precision operations. Therefore, there always 3 qu a oc san wo | c sO» gate 2.2_ THE SAMPLING OPERATION AND SIGNAL RECONSTRUCTION [Due to the fact that the controller is a digital computer, the following additional problems ey ‘vinceducedinscloted nop contol sytem: ine ey stud with gal coaerson wo 4 tn pocesng sling qunization enor deo Ge pect, snd reonsteton of 4 . signals. F 2.2.1 Sampling: A/D Operation In his ection We wil fo on he sampling oly and is inpcons. We wl consider ee te sampling eporton ine folowing ee 1. pps cst of sampler 2: mathematical modelo sampling 2 implications of samping > 2.2.2. Sampling Cirouit © [ROUNE 2.1) Sane nol motel and spon thease tase Consider the sample and hold circuit shown in Fg. 2.3. When the switch is turned ON, the ‘output will tack the input signal. Tis isthe sampling operation. When the switch is tryed (OFF, output wil sty consant at he last vale, Tiss the hold operation. ‘While the switch is ON, the outptvoliage is 1 [ee e ouput 70) Ae) Sy) sant where 1O=H0) ue ‘Taking the Laplace transfers ofthe differential equations and substitating the value of from the second equation gives the input-output transfer fonction ofthe sample and hold @2) R — Tt | @) ‘While the switch is OFF, i) = O:F remains constant (hold operation). [Let T be sampling period, To is the portion of T for which the switch stays Oh and Ty isthe remaining posion of the sampling period daring Which the switch stays OFF (Fig. 2.4, Iruhe input signal x) changes asa step fnction, the our signal wil track it sccording tothe solution ofthe transfer function in response tothe step input. Figure 24 ‘shows the typical response of a realistic sample and hol circuit of an A/D converter. response of sample and hold circu.a4 2.2.3. Mathematical Idealization of the Sampling Circuit Let us consider the limiting case ofthe sampling circuit as 2 mathematical idealization for further analysis. Let us consider that the RC vale goes to zero. 1 RO 05 a + 00 ‘This means that the as soon asthe switcs i tamed ON, 7() will each the valve ofthe 90). ‘Therefore, thre is no nzed to koep the switch ON any more tban aa ifiitesimally small peti of time, The ON time of the switch can goto zero, Ty —» 0 (Pig. 2), sya) ea With tis idealization in mind, the sampling operation can be viewed as a sequence of period impulse functions. & seer This is aso called so thatthe sampling operation acts as a “comb” function (Fig. 2.5). IF Yo ou -ar¥e es [Now we will consider the following tee questions concerning a continuous tine signal, and its samples, (RT); ie, sampled at a sampling flequency, wy = 2x/T by an A/D convercer (Fig. 2.6), ‘+ Question 1: Whats the relationship berween the Laplace transform ofthe samples and the Laplace transform ofthe ginal eontinuous Signal? Ly@T)) 2 LEO} ‘What is the relotionsip between Fourier transform of the samples and a? Shannon’s sampling theorem + Question the Fourier transform ofthe origi continuous si ‘provides the answer to this question FUE) ? FLO) sere) FIGURE 2.5: ldcalized mathematic mod af he sampling operation via a “comb” function 2.2 MHESAMPLNG OPERATION AND SIONAL RECONSTIUCTON 35) v0) a. ot oma Tne FIGURE 2.6: Sunpling of acontinuoue sign ghey emp 1d he fequeney domain rlationahip Between the orginal signal andthe eagle sgn *+ Question 3 Point ou lest shee implieations ofthe sampling theorem hat comes ut ofthe relationship derived in question 3. Lotus address each ofthese questions in order. Question 1 Notice tit because the sampling “comb” function is periodic, it can be expressed as.a sum of Fourer sees, BE sees F cel eo here + 1 [banked = 5 en Trertoe es36 curren? ciosta.odr common, The Laplace tansfocm ofthe sampled signal is (two-sided Laph uansform, see (16) Lyn) Feat foo $Y [onetime 2% ‘The relationship between the Laplace transform of the sampled signal and the Laplace transform ofthe original continaous signa is re FY o-mm 2.10) whee = HF 6 he am ling frequency and Tis the sampling period. Question 2 The Fourier transform of signal can be obtained from the Laplace trans- form by substituting jw in place of ¢ in the Laplace tansform of the fenction, Therefore, swe obtain the following relationship between the Fourier transfers ofthe sampled and