Mechatronics

1 Introduction.- 1.1 Background.- 1.2 The concept of energy flow.- 1.3 Exercises.- I Electromechanics.- 2 Review of Classical Mechanics.- 2.1 Newton’s second law.- 2.2 Rigid bodies.- 2.3 Deformable bodies.- 2.4 References.- 3 Fundamentals of Electromagnetics.- 3.1 Coulomb’s law.- 3.2 Lorentz’s law.- 3.3 Biot-Savart law.- 3.4 Faraday’s law.- 3.5 Maxwell’s equations.- 3.6 Conservation of charge.- 3.7 Maxwell’s equations (continued).- 3.8 References.- 4 Electromagnetic Energy.- 4.1 Electrostatics.- 4.2 Electrostatic energy.- 4.3 Dielectrics.- 4.4 Magnetostatics.- 4.5 Ferromagnetics.- 4.6 Induction and inductance.- 4.7 Electromagnetic energy.- 4.8 Kirchhoff’s laws.- 4.9 Maxwell’s equations (revisited).- 4.10 Exercises.- 4.11 References.- 5 Examples of Electric Machines.- 5.1 DC motors.- 5.2 Stepper motors.- 5.3 Exercises.- 5.4 References.- 6 Introduction to Piezoelastics.- 6.1 Dynamics of elastic layer.- 6.2 Dynamics of dielectric layer.- 6.3 Dynamics of piezoelastic layer.- 6.4 Exercises.- 6.5 References.- II Contromechanics.- 7 Review of Classical Control.- 7.1 Dynamic systems.- 7.2 Laplace transforms.- 7.3 Transfer functions.- 7.4 Time response.- 7.5 Feedback control.- 7.6 Other topics.- 7.7 Exercises.- 7.8 References.- 8 Poles and Zeros.- 8.1 Discrete systems.- 8.2 Continuous systems.- 8.3 Migration of zeros.- 8.4 Pole/zero pairing.- 8.5 Discrete systems (nonminimum phase).- 8.6 Continuous systems (nonminimum phase).- 8.7 Summary.- 8.8 Exercises.- 8.9 References.- 9 Residual Vibration.- 9.1 Point-to-point control.- 9.2 Necessary and sufficient condition.- 9.3 Relevance to existing techniques.- 9.4 Laplace domain synthesis technique.- 9.5 Minimum energy control.- 9.6 Minimum jerk control.- 9.7 Frequency band-limited control.- 9.8 Summary.- 9.9 Exercises.- 9.10 References.- 10 Active Damping.- 10.1 Background.- 10.2 Problem definition.- 10.3 Three-dimensional piezoelasticity.- 10.4 Laminated piezopolymer plate theory.- 10.5 Dynamics of a simple PVDF laminar.- 10.6 References.- III Appendices.- A Units and Constants.- B Review of Vector Calculus.- B.1 Differential vector calculus.- B.2 Integral vector calculus.- C Elasticity Tensor.- C.1 Definition of tensors.- C.2 Elasticity tensor.- D Disk Drive Mechatronics.- D.1 System description.- D.2 Electromechanics: moving-coil actuator.- D.3 Contromechanics: read/write head suspension.- D.4 Contromechanics: track-seeking servo.- D.5 References.