Patrick O. J. Kaltjob - Control of Mechatronic Systems

4 Chapter 4Figure 4.1 Root locus sketch for desired pole phase and magnitude estimation...Figure 4.2 Root locus sketch for double poles.Figure 4.3 Root locations and associated impulse response in the z -plane for...Figure 4.4 Impulse responses for various values of various ξ and ωn...Figure 4.5 Magnitude and phase frequency responses using MATLAB.Figure 4.6 Magnitude and phase frequency responses with PM and GM values.Figure 4.7 Typical percentage second-order oscillatory response.Figure 4.8 Complex roots locus phase and magnitude value definition.Figure 4.9 Block diagram of a DC motor with a lead screw system.Figure 4.10 Chordal approximation for hole cutting with a different radius....Figure 4.11 Process block diagram.Figure 4.12 Process block diagram.

5 Chapter 5Figure 5.1 Impulse response for different process model types and with a dea...Figure 5.2 Frequency response of uncompensated G ( ω ) and compensated clo...Figure 5.3 System unit step response.Figure 5.4 Uncompensated step response.Figure 5.5 (a) Uncompensated step response with K p=0.8689 and Kd=0.0303...Figure 5.6 (a) Uncompensated system response. (b) Compensated system respons...Figure 5.7 (a) Frequency responses for uncompensated PID with a pole-zero co...Figure 5.8 An s -plane showing root structure.Figure 5.9 (a) A z -plane plot showing the root location for an uncompensated...Figure 5.10 Step response of a compensated system.Figure 5.11 Generic command input feedforward block diagram.Figure 5.12 Modified command input feedforward block diagram.Figure 5.13 Block diagram of a DC motor with feedforward control.Figure 5.14 (a) Desired ramp command. (b) Required manipulated input. (c) Ve...Figure 5.15 (a) Desired ramp command input and position achieved. (b) Requir...Figure 5.16 Control feedforward of a robot arm.Figure 5.17 Feedforward control of disturbances.Figure 5.18 Typical PID-based acceleration, velocity, and position state fee...Figure 5.19 Classical (industrial) PID motion controller with velocity and p...Figure 5.20 PID-based state-position cascade control topology for a DC motor...Figure 5.21 Zero-error tracking state-variable motion controller and command...Figure 5.22 Block diagram for generic cascade control topology.Figure 5.23 DC motor model block diagram.Figure 5.24 (a) Velocity control loop. (b) Current loop.Figure 5.25 (a) Equivalent input voltage to current, velocity, and position ...Figure 5.26 Cascade-based control block diagram of a DC motor.Figure 5.27 Active PID-based state feedback control block diagram of a DC mo...Figure 5.28 Modified position loop of cascaded control of a DC motor.Figure 5.29 Average velocity and position-based state feedback control of a ...Figure 5.30 Modified average velocity and position-based state feedback cont...Figure 5.31 Position-based PID state feedback control of a DC motor.Figure 5.32 Modified block diagram of position-based PID state feedback cont...Figure 5.33 Generic MPC control topology.Figure 5.34 Generic structure of a stepping motor structure.Figure 5.35 Initial P and V register values.Figure 5.36 P and V register values after four additions.Figure 5.37 Generic open-loop scalar control of an induction motor.Figure 5.38 Generic closed-loop scalar control of an induction motor.Figure 5.39 Basic structure of indirect oriented vector direct control witho...Figure 5.40 Gamma model of an induction motor.Figure 5.41 Torque-speed curves for varying R a( t ), φ , V a( t ).Figure 5.42 Typical thyristor-controlled DC drive.Figure 5.43 Variation of speed with an external armature resistance.Figure 5.44 Robot for labeling a box in a supply-chain system.Figure 5.45 Elevator motion block diagram.Figure 5.46 (a) Process block diagram. (b) Command input.Figure 5.47 Automatic vehicle speed control system.Figure 5.48 Flood tide control gate for (a) a barrier-open position and (b) ...Figure 5.49 Position system block diagram.Figure 5.50 (a) Robot arm. (b) Robot arm joint trajectory. (c) Combined robo...Figure 5.51 Discrete DC motor block diagram.Figure 5.52 Temperature-based blood treatment system.Figure 5.53 (a) System block diagram with disturbance. (b) System block diag...Figure 5.54 Block diagram for control of motor current.Figure 5.55 Satellite with spin control thrusters.Figure 5.56 (a) Velocity/position profile of a robot arm. (b) Block for cont...Figure 5.57 Block diagram of a DC motor first-order model.Figure 5.58 Lathe machine and laser-based measuring system.Figure 5.59 Schematic block diagram of a laser-based tool offset controller....Figure 5.60 Wind turbine control motion.Figure 5.61 DC motor-amplifier position control.Figure 5.62 Block diagram of a motor-control system.Figure 5.63 DC motor state feedback control topology.Figure 5.64 Oil distillation column and reboiler.Figure 5.65 Block diagram of control system with a PI controller.Figure 5.66 Vehicle speed control.

6 Chapter 6Figure 6.1 Dependency charts showing a sequence of process events.Figure 6.2 Logic circuit of motor starter with a D-flip-flop.Figure 6.3 (a) Mealy state diagram. (b) Mealy state diagram with binary codi...Figure 6.4 Generic state diagram sketching.Figure 6.5 A two-state motor starter state diagram.Figure 6.6 Schematic of the cement pozzolana scratching process.Figure 6.7 (a) State diagram of the cement pozzolana scratching process. (b)...Figure 6.8 (a) Robot-assisted biopsy surgery. (b) State diagram of the robo...Figure 6.9 Laser surgery operating schematic.Figure 6.10 Mealy state diagram of the laser surgery process.Figure 6.11 Moore state diagram of the laser surgery process.Figure 6.12 (a) Three-floor elevator system. (b) State diagram of a two-floo...Figure 6.13 (a) Robot-assisted fruit picker. (b) Moore state diagram. (c) Eq...Figure 6.14 Equivalent Mealy state diagram with binary coding.Figure 6.15 Unmanned vehicle with embedded navigation free collision system....Figure 6.16 Vehicle anti-braking system.Figure 6.17 Logic controller circuit for a delayed pump activation of an ant...Figure 6.18 Battery charging process.Figure 6.19 Automatic vehicle adaptive front lighting system.Figure 6.20 Equivalent state diagram for automatic lightning system.Figure 6.21 (a) Anti-braking system state diagram. (b) Four-state vending ma...Figure 6.22 Motor-driven pump control circuit.Figure 6.23 Driverless car system.Figure 6.24 State diagram for an anti-collision system in a driverless car....Figure 6.25 Laser-based cutting system.Figure 6.26 Logic control of system for screw table motion system.Figure 6.27 Automatic garage gate.Figure 6.28 Snake robot.Figure 6.29 State diagram for snake robot motion.Figure 6.30 Satellite with spin-control thrusters.Figure 6.31 Relay-based control logic of a car engine starter.Figure 6.32 Microwave oven system.Figure 6.33 Mixing tank system.Figure 6.34 Three-dimensional printing process.Figure 6.35 Chamber-based indoor vegetable farming.

7 Chapter 7Figure 7.1 (a) Example of a P&I diagram process temperature control system. ...Figure 7.2 FAST decomposition method.Figure 7.3 FAST decomposition method.Figure 7.4 Example of a hybrid control schematic.Figure 7.5 Process start- and stop-mode graphical analysis.Figure 7.6 Three-floor elevator motion process.Figure 7.7 (a) Continuous command and control of an elevator lift traction m...Figure 7.8 FAST decomposition of an elevator motion system.Figure 7.9 Graphical analysis of start and stop modes for an elevator motion...Figure 7.10 Simplified schematic and description (P&I diagram) of a bottle-c...Figure 7.11 Functional analysis using the FAST method.Figure 7.12 Bottle-washing process operating and stop mode graphical analysi...Figure 7.13 (a) SFC-based hierarchy of a bottle-washing process. (b) SFC for...Figure 7.14 Subprocess function block diagrams.Figure 7.15 (a): Simplified process schematic and description of a cement-dr...Figure 7.16 Cement dryer control and command schematic.Figure 7.17 Granulator process schematic.Figure 7.18 Distillation column schematic.Figure 7.19 Milk bottle-filling process.Figure 7.20 To be complete wiring diagram of the hardwired logic control of ...Figure 7.21 Figure 7.22 Simplified process schematic of a water control system in a hydr...Figure 7.23 FAST analysis of a water control system in a hydroelectric dam....Figure 7.24 Schematic of a cement pozzolana scratcher process.Figure 7.25 Simplified P&I diagram of a beer pasteurization process.Figure 7.26 Simplified schematic description of the beer fermentation proces...Figure 7.27 Functional analysis using the FAST method for the beer fermentat...