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메카트로닉스와 계측시스템 5판 솔루션
메카트로닉스와 계측시스템 5판 솔루션
Solutions Manual
INTRODUCTION TO
MECHATRONICS AND
MEASUREMENT
SYSTEMS
5th edition
2018
SOLUTIONS MANUAL
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This manual contains solutions to the end-of-chapter problems in the fifth edition of
"Introduction to Mechatronics and Measurement Systems." Only a few of the open-ended
problems that do not have a unique answer are left for your creative solutions. More information,
including an example course outline, a suggested laboratory syllabus, Mathcad/Matlab files for
examples in the book, and other supplemental material are provided on the book website at:
mechatronics.colostate.edu
We have class-tested the textbook for many years, and it should be relatively free from
errors. However, if you notice any errors or have suggestions or advice concerning the textbook's
content or approach, please feel free to contact me via e-mail at David.Alciatore@colostate.edu. I
will post corrections for reported errors on the book website.
Thank you for choosing my book. I hope it helps you provide your students with an
enjoyable and fruitful learning experience in the exciting cross-disciplinary subject of
mechatronics.
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2.2
4
(a) R 1 = 21 10 20% so 168k R 1 252k
3
(b) R 2 = 07 10 20% so 5.6k R 2 8.4k
R1 R2
(d) R p = -------------------
R1 + R2
R 1MIN R 2MIN
R p MIN = -------------------------------
- = 5.43k
R 1 MIN + R 2 MIN
R 1MAX R 2MAX
R p MAX = ---------------------------------
- = 8.14k
R 1 MAX + R 2 MAX
2 1
2.3 R 1 = 10 10 , R 2 = 25 10
2 1
R1 R2 10 10 25 10
R = ------------------
- = - = 20 10 1
--------------------------------------------------
R1 + R2 2 1
10 10 + 25 10
a = 2 = red, b = 0 = black, c = 1 = brown, d = gold
2.4 In series, the trim pot will add an adjustable value ranging from 0 to its maximum value to
the original resistor value depending on the trim setting. When in parallel, the trim pot
could be 0 perhaps causing a short. Furthermore, the trim value will not be additive with
the fixed resistor.
2.5 When the last connection is made, a spark occurs at the point of connection as the
completed circuit is formed. This spark could ignite gases produced in the battery. The
negative terminal of the battery is connected to the frame of the car, which serves as a
ground reference throughout the vehicle.
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2.6 No, as long as you are consistent in your application, you will obtain correct answers. If
you assume the wrong current direction, the result will be negative.
2.7 Place two 100 resistors in parallel and you immediately have a 50 resistance.
2.9 Put a 100 resistor in series with the parallel combination of two 100 resistors:
100100100100100
Vs Vs Vs Vs
so from Ohm’s Law -------- = ------ + ------ + ------
R eq R1 R2 R3
1 1 1 1 R1 R2 R3
Therefore, -------- = ------ + ------ + ------ so R eq = ----------------------------------------------------
R eq R1 R2 R3 R2 R3 + R1 R3 + R1 R2
Is Is
2.11 From Ohm’s Law and Question 2.10, V = -------- = ----------------------------------------------------
R eq R2 R3 + R1 R3 + R1 R2
----------------------------------------------------
R1 R2 R3
R2 R3
Therefore, I 1 = ---------------------------------------------------- I s
R 2 R 3 + R 1 R 3 + R 1 R 2
R1 R2 R1 R2
2.12 lim ------------------- = ------------- = R 2
R 1 R 1 + R 2 R1
dV dV 1 dV 2
2.13 I = C eq ------- = C 1 ---------- = C 2 ----------
dt dt dt
From KVL,
V = V1 + V2
so
dV dV dV
------- = ---------1- + ---------2-
dt dt dt
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Therefore,
I- I I 1 1 1 C1 C2
------- = ------ + ------ so -------- = ------ + ------ or C eq = -------------------
C eq C1 C2 C eq C1 C2 C1 + C2
2.14 V = V1 = V2
dV 1 dV dV 2 dV
I 1 = C 1 ---------- = C 1 ------- and I 2 = C 2 ---------- = C 2 -------
dt dt dt dt
From KCL,
dV dV dV
I = I 1 + I 2 = C 1 ------- + C 2 ------- = ------- C 1 + C 2
dt dt dt
dV
Since I = C eq -------
dt
C eq = C 1 + C 2
2.15 I = I1 = I 2
From KVL,
dI dI dI
V = V 1 + V 2 = L 1 ----- + L 2 ----- = ----- L 1 + L 2
dt dt dt
dI
Since V = L eq -----
dt
L eq = L 1 + L 2
dI dI 1 dI 2
2.16 V = L ----- = L 1 ------- = L 2 -------
dt dt dt
dI dI dI
From KCL, I = I 1 + I 2 so ----- = -------1 + -------2
dt dt dt
V V V 1 1 1 L1 L2
Therefore, ---- = ------ + ------ so --- = ------ + ------ or L = ------------------
L L1 L2 L L1 L2 L1 + L2
40
2.18 From Voltage Division, V o = ------------------ 5 – 15 = – 8V
10 + 40
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(c) Since R2 and R3 are in parallel, and since Vin divides between R1 and R23,
R 23 1.2
V 3 = V 23 = --------------------- V in = ------- 5V = 2.73V
R 1 + R 23 2.2
2.20
(a) From Ohm’s Law,
V out – V 1 14.2V – 10V
I 4 = ----------------------- = ------------------------------- = 0.7mA
R 24 6k
2.21
(a) R 45 = R 4 + R 5 = 5k
R 3 R 45
R 345 = --------------------- = 1.875k
R 3 + R 45
R 1 R 2345
R eq = -------------------------- = 0.795k
R 1 + R 2345
R 345
(b) V A = ----------------------- V s = 4.84V
R 2 + R 345
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VA
(c) I 345 = ---------- = 2.59mA
R 345
R3
I 5 = --------------------- I 345 = 0.97mA
R 3 + R 45
2.22 This circuit is identical to the circuit in Question 2.21. Only the resistance values are
different:
(a) R 45 = R 4 + R 5 = 4k
R 3 R 45
R 345 = --------------------- = 2.222k
R 3 + R 45
R 1 R 2345
R eq = -------------------------- = 1.514k
R 1 + R 2345
R 345
(b) V A = ----------------------- V s = 3.57V
R 2 + R 345
VA
(c) I 345 = ---------- = 1.61mA
R 345
R3
I 5 = --------------------- I 345 = 0.89mA
R 3 + R 45
R1
V R22 = ------------------- i 1 = 9.09V
R1 + R2
R4 R5
2.24 R 45 = ------------------- = 0.5k
R4 + R5
V1 – V2
I = ------------------- = – 0.5mA
R1 + R2
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R 45
V A = --------------------- V 1 – V 2 = – 0.238 V
R 3 + R 45
2.25 R 45 = R 4 + R 5 = 9k
R 3 R 45
R 345 = --------------------- = 2.25k
R 3 + R 45
R 1 R 2345
R eq = -------------------------- = 0.81k
R 1 + R 2345
2.26 Using loop currents, the KVL equations for each loop are:
V 1 – I out R 1 = 0
V2 – I5 R5 – I3 R3 – V1 = 0
– I6 R6 + I5 R5 = 0
I 3 R 3 – I 24 R 4 – I 24 R 2 = 0
and using selected KCL node equations, the unknown currents are related according to:
I out = I 2 + I 3 + I V1
I V1 = I out – I 5 + I 6
I 3 = I 5 + I 6 – I 24
This is now 7 equations in 7 unknowns, which can be solved for Iout and I6. The output
voltage is then given by:
V out = V 2 – I 6 R 6
2.28 It will depend on your instrumentation, but the oscilloscope typically has an input
impedance of 1 M.
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2.29 Since the input impedance of the oscilloscope is 1 M, the impedance of the source will
be in parallel, and the oscilloscope impedance will affect the measured voltage. Draw a
sketch of the equivalent circuit to convince yourself.
R2 R3
2.30 R 23 = -------------------
R2 + R3
R 23
V out = --------------------- V in
R 1 + R 23
R2
2.31 V out = ------------------- V in
R1 + R2
10
(a) V out = ------------- V in = 0.995V in
10.05
500
(b) V out = ---------------- V in = 0.9999V in
500.05
For a larger load impedance, the output impedance of the source less error.
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2.33 It will depend on the supply; check the specifications before answering.
2.34 With the voltage source shorted, all three resistors are in parallel, so, from Question 2.10:
R1 R2 R3
R TH = ----------------------------------------------------
R2 R3 + R1 R3 + R1 R2
2.35 V in = 5 45
Combining R2 and L in series and the result in parallel with C gives:
R 2 + Z L Z C
Z R2 LC = ------------------------------------- = 1860.52 – 60.25 = 923.22 – 1615.30j
R2 + ZL + ZC
Using voltage division,
Z R2 LC
V C = --------------------------
-V
R 1 + Z R2 LC in
where
R 1 + Z R2 LC = 1000 + 923.22 – 1615.30j = 2511.57 – 40.02
so
1860.52 – 60.25
V C = -------------------------------------------- 5 45 = 3.70 24.8 = 3.70 0.433rad
2511.57 – 40.02
Therefore,
V C t = 3.70 cos 3000t + 0.433 V
2.37
(a) In steady state dc, C is open circuit and L is short circuit. So
Vs
I = ------------------- = 0.025mA
R1 + R2
(b) =
6 6
–j – 10 10
Z C = -------- = ----------- j = -------- – 90
C
5 5
Z LR2 = Z L + R 2 = jL + R 2 = 10 + 20j = 10 0.036
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Z C Z LR2
Z CLR2 = ------------------------ = 91040 – 28550j = 95410 – 17.4
Z C + Z LR2
Vs
I s = -------- = 0.0259 8.50 mA
Z eq
ZC
I = ------------------------ I s = 0.954 – 17.44 I s = 0.0247 – 8.94 mA
Z C + Z LR2
So
I t = 24.7 cos t – 0.156 A
2.38
rad
(a) = -------- , f = ------ = 0.5Hz
sec 2
A pp = 2A = 4.0 , dc offset = 0
rad
(b) = 2 -------- , f = ------ = 1Hz
sec 2
A pp = 2A = 2 , dc offset = 10.0
rad
(c) = 2 -------- , f = ------ = 1Hz
sec 2
A pp = 2A = 6.0 , dc offset = 0
rad
(d) = 0 -------- , f = ------ = 0Hz
sec 2
A pp = 2A = 0 , dc offset = sin + cos = – 1
2
V rms
2.39 P = ----------- = 100W
R
V pp
2.40 V rms = --------- 2 = 35.36V
2
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2
V rms
P = ----------- = 12.5W
R
V 1 = I 1 – I R1 R 2 + I 1 – I R1 – I 2 R 3
V 3 – V 2 = I 1 – I R1 – I 2 R 3 – I 2 R 4
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10 – 5 = I 1 – 10m – I 2 3k – I 2 4k
or
5k I 1 – 3k I 2 = 60
3k I 1 – 7k I 2 = 35
Solving these equations gives:
I 1 = 12.12mA and I 2 = 0.1923mA
V 1 = I 1 – I R1 R 2 + I 1 – I R1 – I 2 R 3
V 3 – V 2 = I 1 – I R1 – I 2 R 3 – I 2 R 4
10 – 5 = I 1 – 10m – I 2 2k – I 2 1k
or
4k I 1 – 2k I 2 = 50
2k I 1 – 3k I 2 = 25
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(a) V out = I 2 R 4 – V 2 = – 5V
T T
1 Vm Im
2.46 P avg = --- V t I t dt = -------------- sin t + V sin t + I dt
T T
0 0
Therefore,
Vm Im Vm Im
P avg = -------------- cos V – I = -------------- cos
2 2
T
--1- I 2m sin t + I dt
2
2.47 I rms =
T
0
Therefore,
2
I m T I
I rms = ----- --- = ----m-
T 2 2
R2 R3
2.48 R 23 = ------------------- = 5k
R2 + R3
R 23 1
V o = --------------------- V i = --- sin 2t
R 1 + R 23 2
This is a sin wave with half the amplitude of the input with a period of 1s.
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2.49 No. A transformer requires a time varying flux to induce a voltage in the secondary coil.
Np V
2.50 ------ = ------p = 120V
------------- = 5
Ns Vs 24V
2.52 The BNC cable is far more effective in shielding the input signals from electromagnetic
interference since no loops are formed.
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3.3
(a) output passes the positive humps only
(e) output passes the positive humps and scales the negative humps by 1/2
3.4
(a) output passes the positive humps above -0.7V only, with the negative humps clipped
at -0.7V
(b) output passes the negative humps below 0.7V only, with the positive humps clipped
at 0.7V
(c) output passes the positive humps above 0.7V only, with the negative humps clipped
at 0.7V
(d) output passes the negative humps below -0.7V only, with the positive humps clipped
at -0.7V
(e) output passes the positive humps above -0.7V only, and scales the negative humps
below -0.7V by 1/2
3.5 When the diode is forward biased, the output voltage is -0.7V, so the output signal is
chopped off at -0.7V instead of 0V.
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3.6 When the switch is closed and the circuit is in steady state, the current through the load is
constant, and the diode is reverse biased (i.e., there is no diode current).
When the switch is opened, the inductor generates a forward voltage to oppose a decrease
in current. Now the diode forms a circuit with the load, allowing the current to dissipate
through the resistor.
If there were no diode, and the switched were opened, because the current would attempt
to decrease instantaneously, the inductor would generate a very large voltage which would
create an arc (current through air) across the switch contacts.
3.7 Forward bias (Vin > Vout + 0.7V) is required for charging. "Leaking" causes voltage decay
(i.e., Vout decreases slowly).
3.9
(a) For Vi > 0.5V, Vo = 0.5V.
For Vi < 0.5V, Vo = Vi.
The resulting waveform is the original sine wave with the top halves of the positive
"humps" (above 0.5 V) clipped off.
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3
I 1 = I 1 left + I 1right = ------- 0
5R
1
I 2 = I 2 left + I 2right = ------- 0
5R
I3 = 0
4
I 4 = I 4 left + I 4right = ------- 0
5R
1
V diode = 1V – I 4 R = --- V 0
5
3.11 With I2=I3=0, I1 and I4 are equal. The current (I=I1=I4) is:
1V + 1V 2
I = --------------------- = ------- V
2R + R 3R
and the voltage of node A relative to node B is:
1
V AB = 1V – I 2R = – 1V + I R = – --- V
3
Therefore, the voltage polarity on the left diode is incorrect.
3.12 When the left diode is forward biased and the right diode is reverse biased,
V out = V H
and when the right diode is forward biased and the left diode is reverse biased,
V out = V L
When both diodes are reverse biased,
RL
V out = ------------------ V i
Ri + RL
Therefore, the output is a scaled version of the input chopped off below VL and above VH.
1
3.13 For Vin > 0, V out = --- V in = 5 sin t
2
For Vin < 0, V out = V in = 10 sin t
The positive "bumps" of the resulting waveform are half the amplitude (5 vs. 10) of the
original, and the lower bumps are the same.
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3.14 In steady state dc, the capacitor is equivalent to an open circuit. Therefore, the steady state
current through the capacitor is 0 and the steady state voltage across the capacitor is Vout.
(a) For Vs=10V, the diode is forward biased and is equivalent to a short circuit.
Therefore, the equivalent resistance of the two horizontal resistors is R/2 and from
voltage division,
R 2
V capacitor = V out = -------------- V s = --- V s = 6.66V
R 3
---- + R
2
(b) For Vs=10V, the diode is reverse biased and is equivalent to an open circuit.
Therefore, the circuit simplifies to two series resistors and
R 1
V capacitor = V out = -------------- V s = --- V s = – 5 V
R+R 2
3.15 There are three possible states of the diodes. When only the left diode is forward biased,
V out = V H . When only the right diode is forward biased, V out = V L . When both diodes
are reverse biased, V L V out V H . In this case, the circuit is a voltage divider and
RL 1
V out = ------------------ V in = --- V in
Ri + RL 2
3.16
(a) output passes first (positive) hump only
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5V
(a) R --------------- = 100
50mA
5V – 2V
(b) R -------------------------- = 60
50mA
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3.20 1: a resistor (e.g., 1k) to limit the base current while ensuring the transistor is in full
saturation
2: 24 Vdc capable of at least 1A of current
3: power diode capable of carrying at least 1A for flyback protection
4: ground
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3.22 A voltage source (e.g., 5V) and current limiting series resistor (e.g., 330 ) is required on
the LED side. On the phototransistor side, a pull-up resistor (e.g, 1k) and a voltage source
(e.g., 5V) is required on the collector lead and ground is required on the emitter lead.
3.23 From the figure, the approximate "ON" values for the drain-to-source voltage and current
are:
V ds 0.25V and I ds 48mA
so the "ON" resistance is:
V ds
R ON = -------- 5.2
I ds
3.25 The type of BJT required is an npn and an additional resistor must be added in series with
the open collector output to pull up the voltage enough to bias the BE junction of the BJT.
3.26 The upper FET is a p-channel enhancement mode MOSFET and the lower is an n-channel
enhancement mode MOSFET. When Vin = 5V, the upper MOSFET doesn’t conduct but
the bottom one does, so Vout = 0V. When Vin = 0V, the upper MOSFET conducts but the
bottom one doesn’t, so Vout = Vcc.
3.28
(a) cutoff
(b) ohmic
(c) saturation
(d) cutoff
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4.1
(a) linear
(b) nonlinear
(c) linear
(d) linear
(e) nonlinear
(f) nonlinear
(g) linear
4.3 Since Vrms = 120V and f = 60Hz, the Fourier Series is:
Therefore,
2 2
Cn = An + Bn
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Also,
Bn
– ------
sin b Cn Bn
tan n = tan b = ---------------- = --------- = – ------
cos b An An
------
Cn
Therefore,
–1 Bn –1 Bn
n = tan – ------ = – tan ------
A n A n
T
---
T 2 T
2 2
4.5 A n = --- F t cos n 0 t dt = --- cos n0 t dt – cos n0 t dt
T T
0 0 T
---
2
So
T
2 ---
2 T
A n = ------------- sin n 0 t 0 – sin n 0 t T
n 0 T ---
2
2
But 0 = ------ , so
T
1
A n = ------ sin n – sin 2n + sin n
n
But sine of any multiple of is 0, so An = 0
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1 sin ( 2 t )
t 0 0.01 3.0 Va( t )
2
1
sin ( 2 t ) 2 cos ( 2 n t )
n 2 4 10 Vb( t )
2 ( n 1) ( n 1)
n
1 sin ( 2 t ) 2 cos ( 2 m t )
m 2 4 50 Vc( t )
2 ( m 1) ( m 1)
m
1 1.5
1
0.5
Va( t ) Vb( t ) 0.5
0
0
0.5 0.5
0 1 2 3 0 1 2 3
t t
1.5
Vc( t ) 0.5
0.5
0 1 2 3
t
4.7
1 – ------ 1-
2
(a) fH = 6 + --------------------- 10 – 6 = 7.17Hz
1
So the bandwidth is: 0 Hz to 7.17 Hz
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(b) T = 1s
1 rad
f o = --- = 1Hz , 0 = 2f 0 = 2 --------
T sec
4 4 4 3 1
V out = --- sin 2t + ------ sin 6t + ------ sin 10t + ------ sin 14t + ------ sin 18t
3 5 7 9
t 0 0.01 2
4 4 4 3 1
Vout( t ) sin ( 2 t ) sin ( 6 t ) sin ( 10 t ) sin ( 14 t ) sin ( 18 t )
3 5 7 9
2
2.0
Vout( t ) 0
2
0 1 2
t
4.8
1 1
(a) - = 1000 rad
c = -------- = ----------------------------------------------- --------
RC 3 – 6 sec
1 10 1 10
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A out
Ft = Ain n ----------
A in
n sin n t
n=1
where
4
A in n = -----------------------
2n – 1
A out 1
---------- n = ---------------------------
-
A in 2
1 + ------
n
c
n = 2n – 1 2
n 1 100 c 1000 n ( 2 n 1 ) 2
t 0 0.01 2
4 1 sin t
F ( t)
( 2 n 1 ) 2
n
n n
1
c
F( t ) 0
1
0 1 2
t
4.9
1 1
(a) - = 10 rad
c = -------- = ----------------------------------------------------- --------
RC 3 –6 sec
100 10 1 10
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A out
Ft = Ain n ----------
A in
n sin n t
n=1
where
4
A in n = -----------------------
2n – 1
A out 1
---------- n = ---------------------------
-
A in 2
1 + ------
n
c
n = 2n – 1 2
n 1 100 c 10 n ( 2 n 1) 2
t 0 0.01 2
sin t
n
4 1
F ( t)
n ( 2 n 1 ) n
2
1
c
0.5
F ( t) 0
0.5
1
0 0.5 1 1.5 2
t
1 rad rad
4.10 L = ------- -------- = 0.707 -------- = 0.113Hz
2 sec sec
L bandwidth H
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4.11
rad rad
(a) 1 -------- 5 --------
sec sec
R
4.12 V o = --------------------- V i
1
R + ----------
jC
V jRC -
------o = -----------------------
Vi jRC + 1
1
To find the cut-off frequency, set the amplitude ratio magnitude to ------- :
2
Vo RC 1
------ = --------------------------------- = -------
Vi RC 2 + 1 2
Solving for the frequency gives
1
c = --------
RC
Using this expression gives:
-
-----
V c
------o = ----------------------------
Vi 2
------ +1
c
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and now we can plot the frequency response in terms of the dimensionless frequency ratio
r = ------ :
c
r
r 0 0.01 5.0 Ar r
2
r 1
Ar r 0.5
0
0 2 4 6
r
Vo RC
4.13 = arg ------ = 1 – 1 + RCj = 0 – atan ------------ = – atan RC
Vi 1
1
Using c = -------- and r = ------ = RC ,
RC c
= – atan r
0
0
20
r 40
60
68.199 80
0 0.5 1 1.5 2 2.5
0 r 2.5
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4.14 The answer is in Figure 4.4 (see the "0, 30, 50" curve).
n 1 20 t 0 0.01 2
4
n ( 2 n 1 ) 2 F ( t) sin t
( 2 n 1 ) n
n
ATTn 1 ATT1 .25 ATT2 .25 ATT3 .25
4 ATT sin t
F low( t )
( 2 n 1 ) n n
n
ATTn 1 ATT17 .25 ATT18 .25 ATT20 .25
4 ATT sin t
F high( t )
( 2 n 1 ) n n
n
2 1
F( t ) 0 F low( t ) 0
2 1
0 1 2 0 1 2
t t
F high ( t ) 0
2
0 1 2
t
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0.1 ( 2 n 1) ( 2 n 1)
low_pass ( n ) e high_pass ( n ) 1 e
0.8
0.6
low_pass nlow
0.4
0.2
0
10 20 30 40 50
nlow
0.9
high_pass nhigh 0.8
0.7
0.6
2 4 6 8 10
nhigh
X out = --- M in
g
k
and the static sensitivity is
g
K = ---
k
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4.18 We generally assume that the displayed voltage is the gain times the input voltage. This
assumption will be in error if the oscilloscope is dc coupled and some of the frequencies in
the signal exceed the bandwidth of the oscilloscope.
where q is the dependent variable, the time constant () is RC, and the sensitivity (K) is C.
Using the general solution for a 1st order system,
t
– --
q t = CA i 1 – e
Therefore, the step response output voltage (which is the voltage across the capacitor) is
t
1 – --
V out t = ---- q t = A i 1 – e
C
4.21 The rate of change of internal energy is equal to the rate of heat transfer:
d-
---- E = Q· in
dt in
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so
dT out
mc ------------- = hA T in – T out
dt
1
Defining C t = mc (thermal capacitance) and R t = ------- (thermal resistance) and
hA
converting into standard form gives:
dT out
C t R t ------------- + T out = 1 T in
dt
mc
where the time constant is = R t C t = ------- and the sensitivity is K=1.
hA
4.22 Plotting the data Xout(t) shows a steady state asymptote of approximately 5 indicating that:
KA in = 5
X out t
Plotting Z t = ln 1 – ----------------- shows a near linear relation indicating that the system
KA in
can be modeled as 1st order.
Z
0.5
0
‐0.5 0 0.2 0.4 0.6 0.8 1 1.2
‐1
‐1.5
Z
‐2
Linear (Z)
‐2.5
‐3
‐3.5
y = ‐3.772x + 0.145
‐4
‐4.5
4.23 The damped natural frequency is always smaller if there is damping in the system.
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4.24
(a) mechanical rotary (applied torque, torsion spring, rotary damper, and rotary inertia):
·· ·
J + B + k = ext
(b) electrical (voltage source and series resistor, inductor, and capacitor):
1 1
Lq·· + Rq· + ---- q = V s or LI· + RI + ---- I dt = V s
C C
(c) hydraulic (pump with inlet in reservoir, long pipe with friction loss and fluid inertia,
and tank):
dQ 1
I ------- + RQ + ---- V = P
dt C
where V = Q dt
K
G j = ------------------
1 + j
X out K
- = G j = ---------------------------
------------ -
X in 2
1 +
= arg G j = 0 – atan = – atan
rad
4.26 F 0 = 20N = 0.75 --------
Sec
-
k- = 1.095 , = ----- b
n = --- = 0.685 , = --------------- = 0.456
m r n 2 km
X0 1
------------ = ------------------------------------------------- = 1.219
F0 k 2 2 2
1 – r + 4 2 r
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X0 F0
X 0 = ------------ ----- = 2.032m
F 0 k k
– 1
2
= – tan ----------------- = – 49.6 = – 0.866rad
-----
1
– r
r
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Using MathCAD,
4.28 The response would be the same since there is no "g" in the equations. The only difference
would be the initial "equilibrium position," which would be at the unstretched length of the
spring. One method to determine the mass is to measure the natural frequency with a spring
of known stiffness and calculate:
k
m = -----2-
n
– n t
4.29 xh t = e A cos d t + B sin d t
xp t = C
x t = xh t + xp t
F0
x = ----- gives C = 0
k
x(0) = 0 gives A = -C
x· 0 = 0 gives B = 0
Therefore,
F0 – t
x t = ----- 1 – e n cos d t
k
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4.30 The natural frequencies and damping constants can be used to predict the results. To model
the tire, the mass of the wheel, stiffness of the tire, and position of the spindle (new
variable) would also need to be included. The input force or displacement would then be
at the tire-road interface.
so
2
D
C = ----------
4
Q
4.32 Since F = ma , a = x·· and x· = ---- ,
A
Q·
PA = LA ----
A
L
P = ------- Q· = IQ·
A
k 1 v in – v m C 1 I in – I m
m vm L Im
b1 vm R1 Im
k2 vm C2 Im
Analogous free body diagram equations [KVL]:
V in = V C1
V C1 = V R1 + V C2 + V L
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+
Vin C1 R1
C2
m v1 L I1
k1 v1 C1 I1
b1 v1 – v2 R1 I1 – I2
k2 v1 – v2 C2 I1 – I2
F2 –v2 V2 –I2
Analogous free body diagram equations [KVL]:
V 1 – V C2 – V R1 – V C1 = V L
VR1 + VC – V2 = 0
2
C1
+
V2 L
+
V1
4.35 Hydraulic elements are direct analogies to electrical elements. The capacitors are replaced
by tanks, and the resistor and inductor are replaced by a long pipe with flow resistance and
inertance.
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L I1 m v1
C1 I1 k1 v1
R I1 – I2 b v1 – v2
C2 I1 – I2 k2 v1 – v2
V2 –I2 F2 –v2
Analogous KVL [free body diagram] equations:
F 2 + F k1 + F 2 – F 1 = 0
F 1 – F 2 – F k1 + F b – F k2 = 0
F2 – Fb – Fk2 = 0
F1
m1 F2
b
k2
b1 v1 – v2 R1 I1 – I2
k1 v1 – v2 C1 I1 – I2
m v2 L I2
k2 v2 – v3 C2 I2 – I3
b2 v3 R2 I3
Analogous free body diagram equations [KVL]:
V in = V R1 + V C
1
V R1 + V C = V L + V C2
1
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V C2 = V R2
L
R1 (I2-I3)
+
Vin (I1-I2)
C2 R2
C1
k z – x + b z· – x· – F 1 = – m 2 ··z
··
– rF 1 = I 2
where
· ··
z = y – r , z· = y· – r , ··z = y·· – r
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5.2
R4
(a) V + = V - = ------------------- V out
R3 + R4
V+
I = -------
R2
R2 R3 + R4
V out = ------------------------------- I
R4
(b) V + = V - = V out
V+ V out
I 1 = I 2 = ------- = ----------
R2 R2
V + + I 1 R 1 = V out + I 3 R 3
so
R1 R1
I 3 = ------ I 1 = ------------- V out
R3 R2 R3
R1
I = I 1 + I 3 = V out ------ + -------------
1
R2 R2 R
3
so
R2 R3
V out = ------------------- I
R1 + R3
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5.3 With RF replaced by a short, the op amp circuit becomes a buffer so the gain is 1.
5.4
R2
(a) V - = V + = ------------------- V 1 = 5V
R1 + R2
V out = V - + V 2 – I 3 R 3
but I3 = 0, so
V out = V - + V 2 = 10V
5.5 V+ = V- = Vi
R3
V 4 = 1 + ------ V +
R 2
V4 R2 + R3
I 4 = ------ = ------------------- V i
R4 R2 R4
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Since V o + I F R F = 0 ,
V1 V2
V o = – R F ------ + ------
R1 R2
For R1 = R2 = RF = R,
Vo = – V1 + V2
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Since V o + I F R F = V 3 ,
V1 – V3 V2 – V3
V o = V 3 – R F ------------------- + -------------------
R1 R2
For R1 = R2 = RF = R,
V o = V 3 – V 1 – V 3 + V 2 – V 3 = 3V 3 – V 1 + V 2
V2 RF + R1 – V1 RF + R2
V o = ---------------------------------------------------------------------
R1 RF + R2 RF
For R1=R2=R,
RF
V o = ------ V 2 – V 1
R
RF RF
5.11 V outin = – ------ V in and V outref = 1 + ------ V
R R ref
RF RF
V out = V out in + V out ref = – ------ V in + 1 + ------ V ref
R R
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R4 R5
V o 2 = 1 + ------ ------------------- V 4
R 3 R 3 + R 5
R4 R4 R5
V o = V o 1 + V o 2 = – ------ V 3 + 1 + ------ ------------------- V 4
R3 R 3 R 3 + R 5
1
Vout ( t) cos ( t) 0.1 t
3
210
3
210
Vout ( t )
3
410
3
610
3
810
0 0.02 0.04
t
5.14 V+ = V- = 0
dI L 1
V i = L -------- so I L = --- V i dt
dt L
Vo = V- + IR R
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R
but IR = IL, so V o = ---- V i dt
L
5.15 From Ohm’s Law, the input currents can be related to the circuit voltages with:
V+ V in – V - V -
I + = – ------- and I - = -------------------- – ------
R2 R1 Rs
If the input voltages and currents are assumed to be equal (I+ = I-), equating these
expressions, setting Vin=0, and dividing through by the voltage (V+ = V-) gives:
1-
----- 1 1
= ------ + -----
R2 R1 Rs
which gives:
R1 Rs
R 2 = ------------------
R1 + Rs
5.16
RF
(a) V o = – ------ V i = – 2V i
R
1
(b) V o = – -------- V i dt = – V i dt
RC
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RF
(c) V o = – ------ V 1 + V 2 = – 4V i
R
(d) V - = V + = 0V
From Ohm’s Law,
V1 Vi V2 Vi
I 1 = ------ = ------ and I 2 = --------- = ---------
5k 5k 10k 10k
From KCL,
I F = I 1 + I 2 = V i ------ + ---------
1 1
5k 10k
5.17
comparator
+ +
5V +
330
Vin
LED
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5.18
330
LED
+ +
5V + open collector
Vin comparator
RF
5.20 V outmax = 13.6V and V out = – ------ V in = – 2V in
R
so:
V outmax
V inmax = ------------------
- = 6.8V
2
RF
5.21 closed loop gain = ------ = 10
R
5.22 The amplifier will saturate (reach the minimum swing voltage limit) as the integrated dc
component grows.
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6.2
(a) 128 = 100000002 since 27 = 128
6.3
(a) 128 = 8016 since 8(16) = 128
6.4
(a) 1 1
1101 13
+ 1001 + 9
10110 22
(b) 1101 13
- 1001 - 9
0100 4
(c) 1101 13
x 1001 x 9
1101 27
0000 9
0000 117
1101
1110101
(d) 111
111 7
+ 111 + 7
1110 14
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(e) 111 7
x 111 x 7
11
1111
111 49
111
111
110001
6.5
(a)
A
C
B
(b)
A
C
B
6.6
A
AA = A
A
6.7
(a) The output (C) is high (5V) iff both inputs are low (0V).
C = AB = A + B
A B C
0 0 1
0 1 0
1 0 0
1 1 0
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(b) C = AB AB = AB
A B C
0 0 0
0 1 0
1 0 0
1 1 1
C = AB + BA = A B
A B C
0 0 0
0 1 1
1 0 1
1 1 0
(d) C = AB = A + B
A B C
0 0 0
0 1 1
1 0 1
1 1 1
6.8
A
6.9
A
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6.10
A B C D E F
0 0 0 0 1 0
0 0 1 0 0 1
0 1 0 0 1 0
0 1 1 0 0 1
1 0 0 0 1 0
1 0 1 0 0 1
1 1 0 1 1 0
1 1 1 1 1 1
A
B
C
D
E
F
6.11
(a) 1 0 + 1 0 + 1 + 0 1 + 0
11+11+01
1+1+0
1
(b) A B + A A + B
AB + A + B
AA + 1
A1
A
6.12 X = AB + BC + BC + C = ABBC + BC + C = BC A + 1 + C = C B + 1 = C
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6.13 A + A B = A + B
Multiplying (ANDing) both sides by A gives:
AA+AAB = AA+AB
Simplifying, gives:
A+0 = A+AB
A = A 1 + B
A = A
Thus, the identity is valid.
6.14 A + B A + B = AA + AB + BA + BB = A + A B + B = A + A = A
A B C A+B A+C BC A + B A + C A + BC
0 0 0 0 0 0 0 0
0 0 1 0 1 0 0 0
0 1 0 1 0 0 0 0
0 1 1 1 1 1 1 1
1 0 0 1 1 0 1 1
1 0 1 1 1 0 1 1
1 1 0 1 1 0 1 1
1 1 1 1 1 1 1 1
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6.18
A B C AB AC BC AB + AC + BC AB + BC
0 0 0 0 0 0 0 0
0 0 1 0 0 1 1 1
0 1 0 0 0 0 0 0
0 1 1 0 0 0 0 0
1 0 0 0 0 0 0 0
1 0 1 0 1 1 1 1
1 1 0 1 0 0 1 1
1 1 1 1 1 0 1 1
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6.19
(a)
A B C AB BC BC AB + BC + BC AB + C
0 0 0 0 0 0 0 1
0 0 1 0 0 1 1 0
0 1 0 0 0 0 0 1
0 1 1 0 1 0 1 0
1 0 0 0 0 0 0 1
1 0 1 0 0 1 1 0
1 1 0 1 0 0 1 1
1 1 1 1 1 0 1 1
(b)
A B C ABC A+B+C
0 0 0 0 1
0 0 1 0 0
0 1 0 0 0
0 1 1 0 0
1 0 0 0 0
1 0 1 0 0
1 1 0 0 0
1 1 1 1 0
(c)
A B C AB BC BC AB + BC + BC AB + C
0 0 0 0 0 0 0 0
0 0 1 0 0 1 1 1
0 1 0 0 0 0 0 0
0 1 1 0 1 0 1 1
1 0 0 0 0 0 0 0
1 0 1 0 0 1 1 1
1 1 0 1 0 0 1 1
1 1 1 1 1 0 1 1
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6.20
A B A B A+B AB
0 0 1 1 1 1
0 1 1 0 0 0
1 0 0 1 0 0
1 1 0 0 0 0
6.21 X = AP + BP
P A B X
0 0 0 0
0 0 1 0
0 1 0 1
0 1 1 1
1 0 0 0
1 0 1 1
1 1 0 0
1 1 1 1
The circuit is called a multiplexer because P allows one of two (multiple) inputs to pass
through to the output.
6.22 X = AB + A A + B
X = AB + A + B
X = A A + 1 = AA = A
equivalent circuit: one wire connecting input A to output X!
6.23 Y = AD + A + B C
For the unallowed code CD=11, the output (Y) would be:
Y = A + A + B = A + B
In this state, the alarm would go off when windows or doors are disturbed or when motion
is detected. This state is the same as state 2 (CD = 10).
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B C A = B C A
and the all-OR representation is:
B + C + A
The original expression contains 1 AND operations, 1 OR operation, and one inversion,
requiring 3 ICs. The all-AND version contains 2 ANDs and 2 inversions, requiring 2 ICs.
The all-OR version contains 2 ORs and 4 inversions, also requiring 2 ICs.
6.25 Y = A D + A + B C
Y = A + D + A + B + C
A B C D
6.26 Segment c is OFF only for the digit 2, so the output of the logic circuit must be:
X = DCBA or more simply X = CBA
6.28 X = AA C + C + BC = A1 + BC = A + BC = A + B + C = A + B + C
A
B X
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A B C A + B X
0 0 0 1 0
0 0 1 1 1
0 1 0 1 0
0 1 1 1 1
1 0 0 1 0
1 0 1 1 1
1 1 0 0 0
1 1 1 0 0
X = PA B + B + PB A + A
X = PA + PB
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6.34
Ci-1 Ai Bi Si Ci
0 0 0 0 0
0 0 1 1 0
0 1 0 1 0
0 1 1 0 1
1 0 0 1 0
1 0 1 0 1
1 1 0 0 1
1 1 1 1 1
Si = Ci – 1 Ai Bi + Ci – 1 Ai Bi + Ci – 1 Ai Bi + Ci – 1 Ai Bi
Ci = Ci – 1 Ai Bi + Ci – 1 Ai Bi + Ci – 1 Ai Bi + Ci – 1 Ai Bi
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6.35
preset
clear
toggle set set toggle
J
reset reset
K
CK
6.36
T Preset Clear Q Q
1 1 Q0 Q0
1 1 Q0 Q0
0 1 1 Q0 Q0
1 1 1 Q0 Q0
0 0 1 1 0
1 1 0 0 1
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6.37
CK D Preset Clear Q Q
x 1 1 Q0 Q0
0 1 1 0 1
1 1 1 1 0
0 x 1 1 Q0 Q0
1 x 1 1 Q0 Q0
x x 0 1 1 0
x x 1 0 0 1
6.38
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6.39
6.40
6.41 There is a delay between the release at contact "B" (which can exhibit bounce) and the
connection at contact "A" (which can exhibit bounce). There are also small but important
switching delays in the NAND gates. See Figure 6.7. The debounce circuit is an RS flip-
flop with inverters at each input (to effectively eliminate the internal inverters).
6.42
S1 S2 S3 S4
D Q D Q D Q D Q
CK CK CK CK
Q Q Q Q
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6.43 The P0P1P2P3 values change on the negative edge of each clock pulse as follows:
0000 (after reset pulsed low), 1000 (after 1st bit clock pulse), 0100 (after 2nd bit clock
pulse), 1010 (after 3rd bit clock pulse), 1101 (after 4th bit clock pulse).
6.44 The Q0Q1Q2Q3 values (where Q3 = Sout) change on the negative edge of each clock pulse
as follows:
0000 (after reset pulsed low), 1011 (after load line pulsed high), 0101 (after 1st bit clock
pulse), 0010 (after 2nd bit clock pulse), 0001 (after 3rd bit clock pulse), 0000 (after 4th bit
clock pulse).
6.45
1 J Q
CK
1 K Q
6.46
5V D Q
sensor CK
Q
CL
5V
NC
button 1k
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6.47
NO 5V NC
5V
S
D Q
CK Q
7474 C counter
B
74124
Note - With this design, the counter could be negative- or positive-edge triggered. If the
counter is negative-edge triggered (as shown), the one-shot is actually not required.
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6.48
totem
pole 5V
TTL
totem
pole
TTL
open-
collector 5V
TTL
TTL can sink more current than it can source, so the sourcing option wouldn’t be as bright.
6.49
5V
1k
74LS00 4011B
6.50 The CMOS LOW can sink only 1mA per gate which is enough to drive only two LS TTL
inputs (which require 0.36 mA per gate).
6.51 c = QD QC QB QA
e = QD + QC + QB + QA QD + QC + QB + QA QD + QC + QB + QA QD + QC + QB + QA
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6.53 The input is the same: some sort of clock signal. Three of the four outputs look the same
(the 3 least significant bits), but in the decade counter the most significant bit resets all the
bits on the count of 10. The binary counter will continue to increment bits until 16 is
reached. In the binary counter the output code provides 16 combinations, but in the decimal
counter the output code provides 10 different output combinations.
6.54 The output goes high when the signal increases through 4V and low when it decreases
through 1V.
t
– --
6.55 V CAPACITOR = V cc 1 – e where = RC
But when t = T, VCAPACITOR = 2/3 Vcc, so
T T
2 – -------- – --------
--- = 1 – e RC so e RC = 1 ---
3 3
and
T = RC ln 3 1.1RC
6.57 The time to discharge from 2/3Vcc to 1/3Vcc is the same as the time to charge from 1/3Vcc
to 2/3Vcc. From the section, the time to charge to 2/3Vcc is:
t b = – R 2 C ln ---
1
3
and the time to charge to 1/3Vcc is:
t a = – R 2 C ln ---
2
3
Therefore, the elapsed time would be:
23
T 2 = t b – t a = R 2 C ln --- – ln --- = R 2 C ln ---------- = R 2 C ln 2
2 1
3 3 1 3
6.58 Ideally, making R1=0 would make T1 = T2, which would result in a perfectly symmetric
square wave. However, with R1 shorted, there would no longer be any resistance in the
transistor collector-emitter circuit which could result in excessive current to be sunk by the
555 when the base goes high, and this could result in damage.
If the capacitor has a partial charge initially, the first square-wave pulse width will be off
slightly, but all subsequent pulses will be consistent.
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6.59 If the count is updating immediately during the negative edge of signal L, it is possible that
individual bits are latched either before or after the actual transition, depending on the exact
timing of the counter outputs. This unlikely, but possible, scenario can be prevented by
blocking the input pulses during the latch period, when L is high. This could be done by
ANDing the input pulse line (I) with the inversion of the latch signal (L), and attach this
output to the counter.
6.60 Assume that the digital event is a digital pulse that can be applied to the input of the counter.
Cascade 3 74LS90's and connect the output of the third to an LED. Refer to the IC spec
sheet for the appropriate wiring.
6.61 With the solution in 6.47, bounce with the SPDT switch has no effect. This can be verified
with a timing diagram. If the button were pressed immediately after the switch, while
bounce were still occurring, the stored value would be uncertain, but timing this fast would
not be detectable (or repeatable) by a human anyway.
If the button exhibited bounce, the circuit would have a problem. Positive and negative
edges would occur during the bounce, which would result in premature latching during the
button press, and re-latching during the button release.
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7.1 With the code provided, when the target LED turns on (after the 1st countdown to zero), it
never goes off.
A more graceful solution would be to reset the counter and LEDs when the button is pressed
again after the decrement to zero. If a "start" label is inserted above the "movlw target"
line, we would just need to replace "goto begin" with "goto start." Then, the target LED
would turn off and the countdown would start over again.
7.2
PIC16F84
1 18
RA2 RA1 LED
17
330
2 RA3 RA0
3 16
RA4 OSC1
4 15 4 MHz 22 pF
5V MCLR OSC2
1k 5 14 22 pF
Vss Vdd
6 13
RB0 RB7
7 12
RB1 RB6
8 11
RB2 RB5
9 10
RB3 RB4
5V
0.1 F
list p=16f84
include <p16F84.inc>
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goto start
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7.3
PIC16F84
1 18
RA2 RA1
LED
2 17 330
RA3 RA0
3 16
RA4 OSC1
4 15 4 MHz 22 pF
5V MCLR OSC2
1k 5 14 22 pF
Vss Vdd
6 13
RB0 RB7
7 12
RB1 RB6
8 11
RB2 RB5
NO 9 10
RB3 RB4
5V
0.1 F
5V
begin:
While (my_button == 1) ’ while the switch is held down
’ Turn on the LED
High my_led
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’ assumed variables:
’ pin: I/O pin identifier
’ scale: byte variable containing maximum time constant
’ var: byte variable containing measured time constant
’ End of subroutine
Return
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start:
’ Time entire pulse period
PULSIN sensor, 1, high_width
PULSIN sensor, 0, low_width
period = high_width/2 + low_width/2
’ Convert period to units of 10 mmin (10 milli-minutes)
period = period / 60 / 100
’ Calculate and display rpm (assuming rpm is in the approximate 10 to 10000 range)
If (period > 0) Then
rpm = 10000 / period
Gosub display_rpm
Endif
Goto start
7.7 ’ Subroutine to perform a simulated D/A conversion, holding a voltage for approximately
’ 1 second
D_to_A:
’ Define variables:
’ digital_value: predefined byte variable indicating the relative voltage value
pin Var PORTA.0 ’ output pin
i Var BYTE ’ counter variable used in For loop
’ End of subroutine
Return
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7.8 The polling loop continues to run after the alarm as been activated, and the if the door and
windows are closed the alarm will go off. An improved design would branch off to another
section of code when the alarm is activated that would wait for some sort of alarm reset
signal before deactivating the alarm.
7.9 ’ PicBasic Pro program to perform the control functions of the security system example
’ using interrupts
’ Initialize interrupts
OPTION_REG = $7F ’ enable PORTB pull-ups
On Interrupt Goto myint
INTCON = $88 ’ enable interrupts on RB4 through RB7
’ Main loop waiting for sensors to change value (i.e., wait for interrupts)
always:
Low alarm ’ keep the alarm low until a sensor changes value
Goto always ’ continue
’ Interrupt service routine that runs until sensors return to inactive states
Disable ’ disable interrupts during the interrupt service routine
myint:
While ((door_or_window == OPEN) Or (motion == DETECTED))
If ((c == 0) And (d == 1)) Then ’ operating state 1 (occupants sleeping)
If (door_or_window == OPEN) Then
High alarm
Else
Low alarm
Endif
Else
If ((c == 1) And (d == 0)) Then ’ operating state 2 (occupants away)
If ((door_or_window == OPEN) Or (motion == DETECTED)) Then
High alarm
Else
Low alarm
Endif
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End
7.10
// Declare all global variables
const int switch_1=1; // first combination switch
const int switch_2=2; // second combination switch
const int switch_3=3; // third combination switch
const int enter_button=4; // combination enter key
const int green_led=5; // green LED indicating a valid combination
const int red_led=6; // red LED indicating an invalid combination
const int speaker=7; // speaker signal for sounding an alarm
const int motor=8; // signal to bias the motor power transistor
const int a=9; // bit 0 for the 7447 BCD input
const int b=10; // bit 1 for the 7447 BCD input
const int c=11; // bit 2 for the 7447 BCD input
const int d=12; // bit 3 for the 7447 BCD input
byte combination; // stores the valid combination in the 3 LSBs
byte number_invalid; // counter used to keep track of the number of bad
// combinations
// Initializations
void setup() {
// Define pin I/O status
pinMode(switch_1, INPUT);
pinMode(switch_2, INPUT);
pinMode(switch_3, INPUT);
pinMode(enter_button, INPUT);
pinMode(green_led, OUTPUT);
pinMode(red_led=6, OUTPUT);
pinMode(speaker=7, OUTPUT);
pinMode(motor=8, OUTPUT);
pinMode(a=9, OUTPUT);
pinMode(b=10, OUTPUT);
pinMode(c=11, OUTPUT);
pinMode(d=12, OUTPUT);
// Initialize the valid combination and turn off all output functions
combination = B101; // valid combination (switch 3:on, switch
// 2:off, switch 1:on)
// Make sure the LEDs and motor are off and initialize the display
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digitalWrite(green_led, LOW);
digitalWrite(red_led, LOW);
digitalWrite(motor, LOW);
digitalWrite(a, LOW);
digitalWrite(b, LOW);
digitalWrite(c, LOW);
digitalWrite(d, LOW);
// Initialize invalid combo counter
number_invalid = 0;
}
if (number_invalid > 9)
number_invalid = 0;
}
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7.11
// Displays the scaled resistance value of a potentiometer on an LCD.
#include <LiquidCrystal.h>
void setup() {
lcd.begin (16, 2);
}
void loop() {
Pot pot_pin, SCALE, value ’ read the potentiometer value
value = analogRead(pot_pin);
// Scale value from 0-1023 to 0-100 range
percentage = map(value, 0, 1023, 0, 100);
#include <LiquidCrystal.h>
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void setup() {
lcd.begin (16, 2);
}
void loop() {
// When enter key is pressed, initialize the digits for the next number to be entered
for (i=0; i<=4; i++) {
digits_prev[i] = digits[i];
digits[i] = 10; // to indicate a missing digit (for numbers with < 5 digits)
}
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7.13
20x2 LCD character display
1 2 3 4 5 6 11 12 13 14
5V
5V
20k
pot
PIC16F84
1 18
RA2 RA1
2 17
RA3 RA0
1k 3 16
5V RA4 OSC1
1k 4 15 4 MHz 22 pF
5V MCLR OSC2
5
Vss Vdd
14 22 pF
6 13
RB0 RB7
7 12
5k pot RB1 RB6
8 11
5V
RB2 RB5
9 10 0.1 F
0.1 F RB3 RB4
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loop:
Pot pot_pin, SCALE, value ’ read the potentiometer value
percentage = (value * 100) / 255 ’ convert to percentage value
’ Display the percentage value on LCD display
Lcdout $FE, 1, "pot value = ", DEC percentage, " %"
Goto loop ’ continue to sample and display the potentiometer value
End
7.14 Use a combination of Figures 7.11 and 7.13 along with the associated code. Use byte array
variables called "digits_prev" and "digits" to store the digits of the entered numbers, where
"digits_prev" contains the digits of the previous number entered and "digits" contains the
digits of the current number being entered. Add appropriate processing statements to the
keypad code to keep track of and store the digits of the current number. Here are excerpts
of code needed in the implementation:
’ When enter key is pressed, initialize the digits for the next number to be entered
For i = 0 To 4
digits_prev[i] = digits[i]
digits[i] = 10 ’ to indicate a missing digit (for numbers with < 5 digits)
Next i
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For i = 0 To 4
If (display[i] != 10) ’ skip missing digits
Lcdout DEC display[i]
Endif
Next i
Return
7.15 Pin RA4 is an open-collector output. The two possible states are open-circuit and ground.
The pull-up resistor results in a logic high signal (5V) at Vee when RA4 is in the open-
circuit state. Vee is at logic low (0V) when RA4 is grounded.
7.16 See the figure in the solution of Question 6.47 for the "hardware solution." A "software
solution" would look something like:
’ Main loop
loop:
’ Wait for the button to be pressed, and store the state of the switch
While (B == 0) : Wend
state = S
’ Wait for the button to be released, and increment the count if appropriate
While (B == 1) : Wend
If (state = 1) Then
count = count + 1
Endif
Goto loop
7.17 If the button were not bounce-free, we would just need to add pause statements to allow the
bounce to settle after each while loop (e.g., Pause 10).
7.18 See Design Example 7.1 for driving the display and see Question 7.5 for how to debounce
the inputs (or use the Button statement). Here are some code excerpts that might be useful
in the implementation:
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UP Con 0
DOWN Con 1
7.19 Go to www.microchip.com, navigate to the 8-bit, 16-series PIC Microcontrollers, and sort
by "Memory Type" (for "FLASH"), then select the appropriate model from the table.
7.20 See the comments and program flow in the "poweramp.bas" code in Threaded Design
Example A.4.
7.21 See the comments and program flow in the "stepper.bas" code in Threaded Design Example
B.2.
7.22 See the comments and program flow in the "move," "move_steps," and "step_motor"
subroutines in the "stepper.bas" code in Threaded Design Example B.2.
7.23 See the comments and program flow in the "speed" and "get_AD_value" subroutines in the
"stepper.bas" code in Threaded Design Example B.2.
7.24 See the comments and program flow in the "position" and "get_encoder" subroutines in the
"master PIC code" (dc_motor.bas) in Threaded Design Example C.3.
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7.25 See the comments and program flow in the "slave PIC code" (dc_enc.bas) in Threaded
Design Example C.3.
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8.1 A digital computer or microprocessor uses digital or discrete data, that is, data that are
simply strings of 1's and 0's that have no time correspondence. We have to add some type
of time coding to make sense of the data. Therefore we have to design interfaces that will
change (convert) analog information into a discretized form that will be compatible with a
computer. Again, additional code must be included to provide the time references.
8.3
(a) 1 sample per minute would probably suffice, so fs = 1/60 Hz
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0 1 max 2
max 2 1
f max T fs 2 f max t
( 2 ) 0 fs
V( t ) sin ( t ) sin ( 2 t )
t t t t
t 0.33 0 2 T t 0.67 0 2 T t2 0 2 T t 10 0 2 T
0.33 0.67 2 10
1.5
V t 0.33 0.5
V t 0.67
0
V t2
V t 10
0.5
1.5
2
0 2 4 6 8 10 12
t 0.33 t 0.67 t 2 t 10
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a 2 b 0.9 a
ab ab
F( t) 2 cos t sin t
2 2
F t .5 0
1
0 10 20 30 40
t .5
F t1 0
1
0 10 20 30 40
t1
F t 10 0
1
0 10 20 30 40
t 10
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5V – – 5V
8.8 Q = ----------------------------- = 2.44mV
4096
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5V – – 5V
8.9 N = ----------------------------- = 2000
0.005V
An 11 bit A/D converter would suffice since 211 = 2048. A 12-bit converter would be the
minimal acceptable standard size available.
8.10 N = 28 = 256
Q = 10V / N = 0.0391 V
The digital state number for a given voltage V between 0 and 10 is the truncated value of
V/Q. The code is the binary equivalent of the state number.
(a) 0/Q=0 corresponding to state 0: 00000000
8.12 B0 = G2 G1 G0 + G2 G1 G0
B0 = G1 G0 + G2
Also, B1 = G2 G1 G0 + G2 G1 G0 = G1 G0 = G1
8.13
bit scale fraction bit value cumulative voltage
5 1/2 1 -5V + 1/2(10 V) = 0 V
4 1/4 0 0V
3 1/8 1 1.25 V
2 1/16 1 1.875 V
1 1/32 1 2.1875 V
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1 1
8.17 V out1 = – --- V 1 = – V o = – --- V s
2 8
1 1
8.18 V out2 = – --- V 2 = – 2V o = – --- V s
2 4
1 1
8.19 V out3 = – --- V 3 = – 4V o = – --- V s
2 2
8.20 The low end of the range (at 0000) would be -10V. The increment between states would be:
1 1 5
– ------ 10V – – 10V = – ------ 20V = – --- V
16 16 4
So the value at 0001 would be:
5 1
– 10V – --- V = – 11 --- V
4 4
The value at 1111, would be:
15 3
– 10V – ------ 20V = – 28 --- V
16 4
8.21 The standard sampling rate for high-fidelity audio recordings is:
f s = 44kHz 2 20kHz
The sample interval corresponding to this frequency is:
1 ms
t = --- = 0.023 ----------------
fs sampe
For a total time of T=45min, the total required number of samples is:
T-
---- = 118800000samples
t
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Assuming stereo audio without compression, and using the standard high-fidelity
resolution of 16 bits per sample, the total number of memory required is:
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9.1
SPDT NO DPST
NO SPST
5V NC
NO
9.2
5V NC
NO
digital
signal
9.3
NO
5V
reset
9.4
V1
circuit 1
V2
circuit 2
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9.5
AC power switch 1 switch 2 light
9.6 Regardless of the polarity of the voltage in each secondary coil, the current flows through
an upper diode, down through the resistor, then through a lower diode back to the coil.
Therefore, the voltage polarities do change across the resistors, and Vout = Vleft Vright,
where Vleft and Vright are the secondary coil voltages. When the core is to the left, Vleft is
larger and Vout>0. When the core is to the right, Vright is larger and Vout<0. When the core
is centered, both secondaries have the same voltage and Vout=0.
9.7 The excitation frequency (fex) should be much larger than the maximum core displacement
frequency (fmax) to prevent aliasing and to result in a high-fidelity representation. The low-
pass filter cut-off frequency (flow_pass) should be between fex and fmax to filter out the high
frequency of the excitation but pass the lower frequency displacement signal.
9.8 During the transition from 3 (0011) to 4 (0100), any of the following 8 codes could result:
0000, 0001, 0010, 0011, 0100, 0101, 0110, 0111.
9.9 From Table 9.1, the all four bits change value between decimal code 7 (0111) and 8 (1000),
so during this transition, any bit can have either value (0 or 1), so the maximum count
uncertainty is the full range.
9.11
’ Declare signal and count variables
A Var PORTB.0
B Var PORTB.1
count Var WORD
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2
D
9.13 A = ----------
4
D
dA = 2 ---- dD
4
dD dL
but ------- = – ------- , so
D L
2 ---- – D -------
D dL
dA 4 L
------- = ------------------------------------ = – 2 dL
-------
A 2 L
D-
---------
4
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2
D 2
9.14 A = ---------- = 0.0491in
4
P
= ---- = 10 190psi
A
6
E steel = 30 10 psi
–4 –6
= --- = 3.40 10 = 340 10 = 340
E
R R 0.01 120-
F = ---------------- = -------------------------- = 0.245
3.40 10
–4
9.15 For a metal foil strain gage with F=2 and =0.3, Equation 9.11 gives
2 = 1 + 2(0.3) + PZ
where PZ is the piezoresistive term, which works out to be 0.4. Therefore, the change in
length term (1) provides 50% (1/2) of the effect, the change is area term (0.6) provides 30%
(0.6/2) of the effect, and PZ accounts for the remaining 20% (0.4/2).
9 3
9.16 E = 200 10 Pa D = 0.010m P = 50 10 N
F G = 2.115 R = 120
2
D –5 2
A = ---------- = 7.854 10 m
4
P 9
= ---- = 0.637 10 Pa = --- = 0.00318
A E
R = F G R = 0.808 R 1 = R + R = 120.808 R 2 = R 3 = R 4 = 120
R1 R2
V o = V ex ------------------- – ------------------- = 0.00168V ex
R1 + R4 R2 + R3
Therefore,
R1
- = 1
------------------ ---
R1 + R4 2
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which gives:
R 4 = R1
So the potentiometer must be adjusted to the exact resistance of the strain gage to balance
the bridge.
V ex 10V
9.19 I --------- = ---------------------- = 14.2mA
2R 2 350
V ex
V --------- = 5V
2
P = IV = 71.4mW
0.001
9.20 2R' 0.001R G so R' ------------- R G
2
but R' = L 0.050 ---- , so
m
0.001
L --------------------- 120m = 1.2m
2 0.050
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c1 19873.1 c4 8
2.6491810
c2 218615 c5 9
2.0184410
Temperature/Voltage Relationship:
5
ci V
i
T( V)
i= 0
Approximate Sensitivity:
0.03 0
DVDT 5.492 10
5
DVDT
T( 0.03) T( 0 )
c1 25727.9 c4 9
9.2474910 c7 14
3.9407810
c2 767346 c5 11
6.9768810
Temperature/Voltage Relationship:
7
ci V
i
T( V)
i= 0
Approximate Sensitivity:
0.015 0
DVDT 4.961 10
5
DVDT
T( 0.015) T( 0 )
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c1 19873.1 c4 8
2.6491810
c2 218615 c5 9
2.0184410
Temperature/Voltage Relationship:
5
ci V
i
T( V)
i= 0
V 0
So
V 200 0 = 11mV
V 100 0 = 5.26mV
T V T 0 = 636.6 C
9.25 V T 11 = 30mV
2 3 4 5
11 = a 0 + a 1 V 11 0 + a 2 V 11 0 + a 3 V 11 0 + a 4 V 11 0 + a 5 V 11 0
V 11 0 = 0.559mV
V T 0 = V T 11 + V 11 0 = 30.559mV
T V T 0 = 556 C
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c1 19873.1 c4 8
2.6491810
c2 218615 c5 9
2.0184410
Temperature/Voltage Relationship:
5
ci V
i
T( V)
i= 0
V 0
V 120 6.356 10
3
V 120 root ( T( V) 120 V) T V 120 120
V 10 5.084 10
4
V 10 root ( T( V) 10 V) T V 10 10
V 5.848 10
3
V V 120 V 10
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N
5000 ----
9.28 n = k- =
--- m- = 316.2 rad
---------------- -------
m 0.05kg sec
100
------ = ------------- = 0.316
n 316.2
- 2
-----
n
= 0.1
b 30
= --------------- = ----------------------------------- = 0.949
2 km 2 5000 0.05
2
x·· in actual = X in = 5mm 100 -------
2 rad 4 mm m
(a) = 5 10 ---------2- = 50 ---------2-
sec sec sec
m sec
x·· in actual = 50 ---------2- 9.81 ---------------- = 5.1g
m
g
sec
1
(b) H a = ------------------------------------------------------------------ = 1.08
2 2 2 2
1 – ------ + 4 ------
n n
(c) Since H a is assumed to be 1 for the accelerometer device for all ’s,
2 m
x·· in measured = n X r 1 = 54 ---------2-
sec
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2 -----
-
–1 n – 1 2 0.949 0.316
(d) = – tan ----------------------2- = – tan ---------------------------------------- = – 33.7 = – 0.588rad
1 – ----- 1 – 0.1
-
n
N Ns rad
9.29 m = 1kg k = 2 ---- b = 2 ------- = 1.25 -------- X i = 0.010m
m m s
k- = 1.414 rad b
n = --- -------- r = ------ = 0.884 = --------------- = 0.707
m s n 2 km
2
Xr r
------ = ------------------------------------------------ = 0.616
Xi 2 2 2 2
1 – r + 4 r
– 1 2
r
= – tan --------------2- = – 80.1 = – 1.398 rad
1 – r
Xr
X r = X i ------ = 0.00616m
X i
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10.1 Use a combination of a power transistor switch circuit and a diode clamp.
10.2 Electric motors and solenoids create changing magnetic fields which induce voltages in
nearby unshielded circuits.
10.3 P = T s 1 – ------------
max
At maximum power,
1
= --- max
2
so the maximum power is:
1
--- max
= P --- max = --- max T s 1 – ---------------- = --- max T s
1 1 2 1
P max
2 2 max 4
V in
I s = -------- = 6.67A
R
V in
T s = k t -------- = 0.8Nm
R
max
max max ------------ max
2
P max = P ------------ = ------------ T s 1 – ------------ = ------------ T s = 17.45W
2 2 max 4
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10.6
RESET
STEP
CW/CCW
B0
B1
1
10.7
B1 B0 1 2 3 4 step 2 1 B0 B1 B1 1
0 0 1 0 0 1 2 1 0 1
0 1 0 1 0 1 3 0 1 1
1 0 0 1 1 0 4 0 1 0
1 1 1 0 1 0 1 1 0 0
This checks out with both Table 10.1 and Equation 10.18.
For 2, sum of products (SOP) gives:
2 = B1 B0 + B1 B0
and product of sums gives:
2 = B1 + B0 B1 + B0 = B1 B0 + B0 B1
which is the same as the SOP result.
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x 0.001
10.9 d = ------- = ------------- = 0.02rad
r 0.05
m = 3 d = 0.06rad = 3.44
Therefore, the minimum required number of steps per revolution is
360
N = ----------- = 105
m
To achieve the maximum speed,
cm
v max 0.10 -------
s rad
d = ----------- = ------------------ = 2 --------
r 0.05cm s
rad
m = 3 d = 6 --------
s
Therefore, the required step rate is
m steps
---------- = 100 -------------
m s
10.10
(a) servo motor
(c) series dc
(d) ac induction
(f) series dc
(i) dc motor
(k) ac motor
(l) ac motor
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l = rg m
l = rg m
Combining these equations gives:
2 m
kr g m = T s – T s -------------
mmax
so
Ts Ts
m = ------------------------------ and l = r g m = --------------------------------
2 Ts Ts
kr g + ------------- kr g + ------------------
mmax rg m
max
(c) Designating the torque on the motor (rotor) side of the gear box as Tgm and the torque
on the load side of the gear box as Tgl, the equations of motion for the motor rotor and
load can be written as:
T m – T gm = J r m and T gl – T l = J l l
where the gear box torques are related by:
T gm = r g T gl
and the load and motor angular accelerations are related by:
l = rg m
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Designating the motor speed m as , the motor and load torques are given by:
T m = T s 1 – ------------ and T l = k l = kr g
max
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10.12 If the inner diameter of the cylinder (i.e., the diameter of the piston face) is D, the diameter
of the piston rod is d, and the fluid pressure is P, then the force to extend the cylinder
(pressure on the face of the piston) is:
2
D
F = PA face = ----------
4
and the force to retract the cylinder (pressure on rod side of the piston) is:
2
D – d
F = PA face – rod = ------------------------
4
2
d 2
10.13 A = --------- = 0.785in
4
2
F = PA = 1000psi 0.785in = 785lb
2 2
d 10mm 2
10.14 A = --------- = --------------------------- = 78.5mm
4 4
F 2000N
P = ---- = ----------------------2- = 25.5MPa
A 78.5mm
10.16 Required components: pressure regulator (e.g., 1500 psi), pneumatic cylinder (double-
acting or spring return), valve. The required cylinder area is:
F 100 2 2
A = --- = ------------ in = 0.0667in
p 1500
Therefore, the required cylinder diameter is:
D = 4A
------- = 0.29in
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11.1 Analytically, a running average of the three most recent derivative calculations involves the
following:
ei – 2 – ei – 3
D i – 2 = ---------------------------
t
ei – 1 – ei – 2
D i – 1 = ---------------------------
t
ei – ei – 1
D i = ---------------------
t
Di – 2 + Di – 1 + Di ei – ei – 3
D avg = ------------------------------------------- = ---------------------
3 3t
The last equation can be implemented in code based on the either of the expressions.
Here’s the code using the first expression:
’ before loop
Di2 = 0 : Di1 = 0
11.2 See Section 1.1 and Internet Link 7.14 for some examples.
11.3 See Section 1.1 and Internet Link 7.14 for some examples.
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11.4
penny nickel quarter
Shigh
Smiddle
Slow
X (quarter)
Y (nickel)
Z (penny)
loop:
’ Check for middle and high sensors while low sensor is active
While (S_low == 0)
If (S_mid == 0) Then
While (S_mid == 0)
If (S_high == 0) Then
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X_q = 1
Goto done
End If
Wend
Y_n = 1
Goto done
EndIf
Wend
Z_p = 1
done:
’ The correct coin is identified at this point
............ use the coin info ..........
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d 6 L d 6 F L
ddF ( F Lw h ) ( F Lw h ) ddw ( F Lw h ) ( F Lw h )
dF 2 dw 2 2
h w h w
d 6 F d 12 F L
ddL ( F Lw h ) ( F Lw h ) ddh ( F Lw h ) ( F Lw h )
dL 2 dh 3
h w h w
5
E( F Lw h ) 5.711 10 Pa
2 2
Erms( F Lw h ) ( ddF ( F Lw h ) F ) ( ddL ( F Lw h ) L )
2 2
( ddw ( F Lw h ) w ) ( ddh ( F Lw h ) h )
5
Erms( F Lw h ) 3.857 10 Pa
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