ME 214 MECHATRONICS

Online sources + J. Shelton from Purdue ME

There are no secrets to success. It is the result of
preparation, hard work, learning from failure.
– C. Powell
Yasakawa Electric Company
Mecha from mechanism
Tronics from electronics

W. Bolton:
A mechatronic system is not just a marriage of
electrical and mechanical system and is more than
just a control system; it is a complete integraBon of
all of them
Autonomously Maintain Desired Distance Between Vehicles
hEps://www.youtube.com/watch?v=WxJKXGugP8
 Singularity Func.ons

• Before we consider the response of a circuit to an

external voltage, we need to cover some important
mathematical functions.
• Singularity functions serve as good approximations to
switching on or off a voltage.
• The three most common singularity functions are the
unit step, unit impulse, and unit ramp.

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The Unit Step
• A step func=on is one that
maintains a constant value before
a certain =me and then changes to
another constant a?erwards.
• The prototypical form is zero
before t=0 and one a?erwards.
• See the graph for an illustra=on.

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 The Unit Step

• The switching =me may be shi?ed to t=t0 by:

ì0, t < t0
u ( t - t0 ) = í
î1, t > t0

• Note that this results in a delay in the switch.

• The unit step func=on is wriDen as u(t)

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Equivalent Circuit
• The unit step function
has an equivalent circuit
to represent when it is
used to switch on a
source.
• The equivalent circuits
for a voltage and
current source are
shown.

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 The Unit Impulse (Dirac Delta) Func6on

• The deriva*ve of the unit step func*on is

the unit impulse func*on.
• This is expressed as:

ì 0 t<0
ï
d ( t ) = í Undefined t = 0
ï 0 t >0
î
• Voltages of this form can occur during
switching opera*ons.

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 The Unit Ramp Func.on
• Integration of the unit step
function results in the unit ramp
function:

ì0, t £ 0
r (t ) = í
î t, t ³ 0
• Much like the other functions,
the onset of the ramp may be
adjusted.

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