Modern Control Technology : Components And Systems

Preface xi Acknowledgments xv Introduction to Control Systems 1(22) Control Systems 2(8) Open-Loop Control Systems Closed-Loop Control Systems Transfer Functions Analog and Digital Controllers 10(1) Classifications of Control Systems 11(12) Process Control Motion Control (Servomechanisms, Numerical Control, Robotics) Introduction to Microprocessor-Based Control 23(30) Introduction to Microprocessor System Hardware 25(3) Introduction to Microprocessor Operation 28(2) Interfacing to a Microprocessor Controller 30(11) The Parallel Interface (DACs, ADCs) The Serial Interface (RS232, Networking) Introduction to Controller Programming 41(2) Microprocessor-Based Controllers 43(10) Single-Chip Microcomputers (Microcontrollers) Single-Board Computers Digital ``Panel Mount'' Controllers Programmable Logic Controllers Personal Computers Used in Control Systems Operational Amplifiers and Signal Conditioning 53(54) Operational Amplifiers 54(30) Voltage Follower Inverting Amplifier Noninverting Amplifier Summing Amplifier Differential and Instrumentation Amplifiers Integrators and Differentiators Active Filters Comparator Special Interface Circuits 84(7) The Current Loop (Voltage-Current Conversion) Analog Switch Circuit Sample-and-Hold Circuit Signal Transmission 91(16) Earth Ground and Ground Loops Isolation Circuits Shielding Shield-Grounding Considerations Practical Wiring Considerations Switches, Relays, and Power-Control Semiconductors 107(42) Switches 108(6) Toggle Switches Push-Button Switches Other Switch Types Relays 114(4) Electromechanical Relays Solid-State Relays Power Transistors 118(13) Bipolar Junction Transistor Field Effect Transistor (FET) Insulated Gate Bipolar Transistor (IGBT) Silicon-Controlled Rectifiers 131(6) Triacs 137(5) Calculation of Delay and Conduction Periods Trigger Devices 142(7) Unijunction Transistors Programmable Unijunction Transistors Diac Mechanical Systems 149(60) Behavior of Mechanical Components 150(20) Overview Friction Springs Mass and Inertia Basic Equations of Motion for Linear Systems Basic Equations of Motion for Rotational Systems Levers Energy 170(6) Energy Conversion Heat Transfer Response of the Whole Mechanical System 176(6) Underdamped, Critically Damped, and Overdamped Mechanical Systems Mechanical Resonance Gears 182(14) Spur Gears Using Gears to Change Speed Using Gears to Transfer Power Long Gear Trains Worm Gears Harmonic Drive Differential Gears Clutches and Brakes 196(2) Clutches Brakes Other Power-Transmitting Techniques 198(11) Belts Roller Chain Sensors 209(78) Position Sensors 210(19) Potentiometers Optical Rotary Encoders Linear Variable Differential Transformers Angular Velocity Sensors 229(8) Velocity from Position Sensors Tachometers (Optical, Toothed-Rotor, Direct Current) Proximity Sensors 237(10) Limit Switches Optical Proximity Sensors Commercially Available Photoelectric Sensors Ultrasonic Proximity Sensors Inductive Proximity Sensors Hall-Effect Proximity Sensors Load and Force Sensors 247(8) Bonded-Wire Strain Gauges Semiconductor Force Sensors Other Force Sensors Pressure Sensors 255(1) Bourdon Tubes Bellows Semiconductor Pressure Sensors Temperature Sensors 256(11) Bimetallic Temperature Sensors Thermocouples Resistance Temperature Detectors Thermistors Integrated-Circuit Temperature Sensors Flow Sensors 267(5) Pressure-Based Flow Sensors Turbine Flow Sensors Ultrasonic Flowmeters Magnetic Flowmeters Liquid-Level Sensors 272(4) Discrete-Level Detectors Continuous-Level Detectors Vision Sensors and Systems 276(11) Commercially Available Vision Sensor Systems Direct Current Motors 287(44) Theory of Operation 288(5) Wound-Field DC Motors 293(5) Series-Wound Motors Shunt-Wound Motors Compound Motors Permanent-Magnet Motors 298(8) Relationship Between Torque and Speed Circuit Model of the PM Motor (Optional) DC Motor-Control Circuits 306(16) DC Motor Control Using an Analog Drive Reversing the PM Motor DC Motor Control Using Pulse-Width Modulation PWM Control Circuits DC Motor Control for Larger Motors Braking the DC Motor A Comprehensive Application Using a Small DC Motor 322(4) Brushless DC Motors 326(5) Stepper Motors 331(32) Permanent-Magnet Stepper Motors 332(12) Effect of Load on Stepper Motors Modes of Operation Excitation Modes for PM Stepper Motors (Two-Phase (Bipolar) Stepper Motors, Four-Phase (Unipolar) Stepper Motors, Available PM Stepper Motors) Variable-Reluctance Stepper Motors 344(2) Hybrid Stepper Motors 346(2) Stepper Motor Control Circuits 348(8) Controlling the Two-Phase Stepper Motor Controlling the Four-Phase Stepper Motor Microstepping Improving Torque at Higher Stepping Rates Stepper Motor Application: Positioning a Disk Drive Head 356(7) Alternating Current Motors 363(38) AC Power 364(7) Background Single-Phase AC Three-Phase AC Electrical Safety Ground-Fault Interrupters Induction Motors 371(14) Theory of Operation Single-Phase Motors Three-Phase Motors Split-Phase Control Motors AC Servomotors Synchronous Motors 385(3) Theory of Operation Power-Factor Correction and Synchronous Motors Small Synchronous Motors Universal Motors 388(1) AC Motor Control 388(13) Start-Stop Control Jogging Reduced-Voltage Starting Variable-Speed Control of AC Motors Variable-Frequency (V/Hz) Drives Vector Drives Actuators: Electric, Hydraulic, and Pneumatic 401(32) Electric Linear Actuators 402(9) Leadscrew Linear Actuators Solenoids Electric Linear Motors Hydraulic Systems 411(11) Basic Principles of Hydraulics Hydraulic Pumps Hydraulic Actuators Pressure-Control Valves Accumulators Directional Control Valves Pneumatic Systems 422(7) Compressors, Dryers, and Tanks Pressure Regulators Pneumatic Control Valves Pneumatic Actuators Flow-Control Valves 429(4) Feedback Control Principles 433(56) Performance Criteria 436(1) On-Off Controllers 437(2) Two-Point Control Three-Position Control Proportional Control 439(11) The Steady-State-Error Problem The Gravity Problem Bias Analog Proportional Controllers Integral Control 450(4) Derivative Control 454(1) Proportional + Integral + Derivative Control 455(18) Analog PID Controllers Digital PID Controllers Stability Tuning the PID Controller Sampling Rate Autotuning Cascade Control 473(1) PIP Controllers 473(1) Fuzzy Logic Controllers 474(15) Introduction Example of a One-Input System Example of a Two-Input System Closing Thoughts Relay Logic, Programmable Logic Controllers, and Motion Controllers 489(50) Relay Logic Control 490(8) Relay Logic Ladder Diagrams Timers, Counters, and Sequencers Programmable Logic Controllers 498(9) Introduction PLC Hardware PLC Setup Procedure PLC Operation Programming the PLC 507(18) Ladder Diagram Programming Bit Instructions Timers Counters Sequencers Using a PLC as a Two-Point Controller Advanced Instructions PID Instruction Other PLC Programming Languages Programmable Logic Controllers and Networks 525(4) Motion Controllers 529(10) Appendix A Thermocouple Tables for Type J (°F and °C) 539(5) Appendix B The Getting Started Guide for APS, Chapter 2---Control Basics (tutorial on using the file system, addressing and ladder logic for the Allen-Bradley SLC 500 and MicroLogix 1000 PLCs) 544(29) Getting Results with RS Logix 500, Chapters 1 and 5 (instructions for using Windows-based ladder logic programming for Allen-Bradley SLC 500 and MicroLogix 1000 PLCs) 550(23) Appendix C Glossary 573(24) Appendix D Answers to Odd-Numbered Exercises 597(24) Index 621