Mechanical Engineering Series Frederick F. Ling Series Editor Advisory Board Applied Mechanics F.A. Leckie University of California, Santa Barbara Biomechanics V.C. Mow Columbia University Computational Mechanics H.T. Yang Purdue University Dynamic Systems and Control KM. Marshek University of Texas, Austin Energetics J. Welte University of Oregon, Eugene Mechanics of Materials 1. Finnie University of California, Berkeley Processing KK Wang Cornell University Thermal Science A.E. Bergles Rennselaer Polytechnic Institute Tribology W.O. Winer Georgia Institute of Technology Mechanical Engineering Series Laser Machining: Theory and Practice G. Chryssolouris Theory of Wire Rope G.A Costello Balancing of High-Speed Machinery M.S. Darlow Analysis of Material Removal Processes W.R. DeVries (Springer Texts in Mechanical Engineering) Principles of Heat Transfer in Porous Media M. Kaviany Underconstrained Structural Systems E.N. Kuznetsov Mechatronics: Electromechanics and Contromechanics D.K. Miu Introductory Attitude Dynamics F.P. Rimrott Theory of Vibration Vol. I Introduction Vol. II Discrete and Continuous Systems AA Shabana Denny K. Miu Mechatronics Electromechanics and Contromechanics With 127 Figures fllustmtions by Viktoria Temesvary Springer-Verlag New York Berlin Heidelberg London Paris Tokyo Hong Kong Barcelona Budapest Denny K. Miu, Ph. D Department of Mechanical, Aerospace and Nuclear Engineering University of California, Los Angeles Los Angeles, CA 90024-1597 Series Editor Frederick F. Ling President, Institute for Productivity R.esea.rch New York, NY 10010 and Distinguished William Howard Hart Professor Emeritus Department of Mechanical Engineering, Aeronautical Engineering, and Mechanics Rensselaer Polytechnic Institute Troy, NY 12180-3590 USA Library of Congress Cataloging-in_Publication Data Miu, Denny K. MecllatroniCII: e lectromechaniCII and contromechanlCII/Denny K. Miu. p. cm.-{Mech.&nicaJ engineering ""riee) Includee bibliographical ref",...,nces a nd index. IS BN - ' 3 '97 8 - ' - 46. :> - 874 6 - 9 001, 10. 007/978- 1 - .... 6 1 :Z - 4 358 - 8 1. Electromechanical devices. 2. Automatic control. I. Title. II. Seriee: Mechanical engineering aeriee (Berlin, Germany) TJI63.M5 1992 621-dc20 92-1604 Printed On &eid-free pa.per. @1993Springer-Verlag Ne.... York, Inc. AU righta reserved. This work may not be translated or copied in whOle or in part without the written permi88ion of the publisher (Spring<:!r_Vetlag New York, Inc., 175 Fifth Avenue, New York, NY 10010, USA), except for brief excerpta in connection with revie.... s or BCholar. Iy anal)'1lis. Use in connection with any form of information storage and retrieval, electronic adaptation, computer software, or by similar or diNimilar methodology now known or her... after developed is forbidden. The u.se of general deBCriptive namee, trade names, trademarka, etc., in this publication, even if the former a re not especially identified, is not to be taken ... a sign that such names, as understood by the Trade Marka and Merchandiae Marka Act, may accordingly be u.sed freely by anyone . Production managed by Natalie JohlllKln; manuf&eturing l uperv;Sf!d by Vincent Scelta. Camera-ready copy prepared by the author; Illustration. by Viktoria Temesvary. 98765 4 321 To my friend Paul who opened my eyes so I can hear, To my friend Dom who opened my heart so I can speak. To my Mom and Dad who gave me the means, To my Melodies who show me the way. Series Preface Mechanical engineering, an engineering discipline born of the needs of the industrial revolution, is once again asked to do its substantial share in the call for industrial renewal. The general call is urgent as we face profound is­ sues of productivity and competitiveness that require engineering solutions, among others. The Mechanical Engineering Series features graduate texts and research monographs intended to address the need for information in contemporary areas of mechanical engineering. The series is conceived as a comprehensive one that will cover a broad range of concentrations important to mechanical engineering graduate ed­ ucation and research. We are fortunate to have a distinguished roster of consulting editors, each an expert in one of the areas of concentration. The names of the consulting editors are listed on the front page of the volume. The areas of concentration are applied mechanics, biomechanics, compu­ tational mechanics, dynamic systems and control, energetics, mechanics of material, processing, thermal science, and tribology. Professor Marshek, the consulting editor for dynamic systems and con­ trol, and I are pleased to present this volume of the series: Mechatronics: Electromechanics and Contromechanics by Professor Denny K. Miu. The selection of this volume underscores again the interest of the Mechanical Engineering Series to provide our readers with topical monographs as well as graduate texts. New York, New York Frederick F. Ling vii Preface While I was writing this book, I was constantly reminded of a story told by a dear friend of mine and it goes something like this: "Sometime in the not too distant past, there was a modern art exhibit being held somewhere at the outskirts of town. It was the first of its kind. It was not well attended. Several fellow artists and the art critics were there to examine the works of a few unknown but rather- high-spirited individuals. Toward the end of the day, in one corner of the room, there emerged a heated discussion. The critics were arguing whether some of the paintings should, in fact, be considered impressionistic, while others were merely classically inspired. At the same time, at the opposite end of the room, the artists themselves were engaging in an equally important discussion. They were heatedly debating where they could get the cheapest turpentine .... " Similarly, in the field of mechatronics, there is a never-ending discus­ sion on whether it is a new field or merely an extension or a combina­ tion of some existing fields. There seems to be no agreement on what the field should be called. Is it mechatronics, mechano-informatics, intelligent mechanisms, smart products, computerized machines, information-driven mechanical systems, or computer-controlled electromechanical systems? On the other hand, fortunately, there is almost perfect agreement among the researchers themselves. Although due to a variety of packaging reasons, we still disagree on the name, at least we are in agreement that in recent years, much efforts and resources from both industry and academia have been focused on an exciting body of activities which in the most simplis­ tic sense can be categorized as those involving interaction of mechanics, electronics, and information. We recognize that similar to other emerging technologies during their infancy stage, these activities are driven to exis­ tence by real-world needs rather than by pure intellectual curiosity. And as such, they inevitably, and indeed necessarily, cross the existing boundaries of well-established academic disciplines. Those of us who work in the field are excited about the future, but unlike the critics, none of us can accurately predict how mechatronics is going to ix x Preface evolve or what it will eventually be called. All we know is that there are materials that need to be taught at our universities that have not been taught before, there are concepts that ought to be integrated that have not been integrated before, and there are research opportunities that can be exploited that have not been exploited before. Until the dust settles and the historians have their final say, all we can do now is be guided by our own experience, vision, and intuition. In that sense, this book is a reflection of my own personal aspiration and limitation. My purpose in writing this book is based on my desire to share them with my fellow artisans. This book evolved from a set of classnotes that I had prepared at UCLA for a graduate course on computer-controlled electromechanical systems. Over the years, the students who attended this course had come from a variety of technical backgrounds and therefore had different needs and ex­ pectations. Many of the students majored in aerospace control, especially those who were interested in control of large flexible space structures and aerospace vehicles. For them, this course provided a unique opportunity to explore, ob­ serve, and appreciate the interaction between control and electromechanics. In the process, they also gained some intuitive understanding of the physics behind electromechanical sensors and actuators which they otherwise would not have received from the typical control curriculum. A small minority of the students majored in structural mechanics but had an interest in control. They therefore were in the class for the same reason, except they saw things from a mechanics perspective. The majority of the students who attended this course were interested in doing research on electromechanical systems, robotics, precision engineer­ ing, or manufacturing automation. They are the primary audience of this book. In this book, I try to present materials that are both elementary and fundamental. Whenever possible, mathematical modeling is combined with physical understanding and the working equations are almost always de­ rived from first principles. From experience, I have found that students typically need very little in the way of prerequisites, except a solid under­ graduate education in mechanical engineering. The skills that they need are calculus, physics, vibration, strength of material, and classical control. This book is divided into two parts as suggested by the title: electrome­ chanics and contromechanics. The main focus of Part I is to explore various issues related to electromechanical sensors and actuators. After a brief re­ view of the fundamental concepts of classical mechanics in Chapter 2, we xii Preface Obviously, this book is not meant to be the final word on the subject of mechatronics. The best that I can say is that, in my mind, it represents a small step toward establishing mechatronics as a stand-alone respectable academic discipline, which has long been my desire.