Solutions Manual

INTRODUCTION TO
MECHATRONICS AND
MEASUREMENT
SYSTEMS

2nd edition

SOLUTIONS MANUAL

David G. Alciatore
and
Michael B. Histand

Department of Mechanical Engineering

Colorado State University
Fort Collins, CO 80523

Introduction to Mechatronics and Measurement Systems 1

Solutions Manual

This manual contains solutions to the end-of-chapter problems in the second edition of
"Introduction to Mechatronics and Measurement Systems." Only a few of the open-ended
problems that do not have a unique answer are left for your creative solutions. More information,
including an example course outline, a suggested laboratory syllabus, MathCAD files for examples
in the book, and other supplemental material are provided on the Internet at:

http://www.engr.colostate.edu/~dga/mechatronics.html

We have class-tested the textbook for several years, and it should be relatively free from
errors. However, if you notice any errors or have suggestions or advice concerning the textbook's
content or approach, please feel free to contact us via e-mail at dga@engr.colostate.edu. We will
post corrections for reported errors on our Web site.

Thank you for choosing our book. We hope it helps you provide your students with an
enjoyable and fruitful learning experience in the cross-disciplinary subject of mechatronics.

2 Introduction to Mechatronics and Meaurement Systems

Solutions Manual

2.1 D = 0.06408 in = 0.001628 m.


π' ±
$ ----------  × 

ρ = 1.7 x 10-8 Ωm, L = 1000 m
ρ/
5 ------- Ω
$

2.2

(a) 5  ×  ±  so NΩ ≤ 5  ≤ NΩ


(b) 5  ×  ±  so NΩ ≤ 5  ≤ NΩ

(c) 5V 5  5 NΩ ±  so NΩ ≤ 5 V ≤ NΩ

5 5
(d) 5S ------------------
-
5  5

5 0,1 5 0,1
5 S0,1 -------------------------------
- NΩ
5 0,1  5  0,1

5 0$; 5 0$;
5 S0$; ---------------------------------
- NΩ
5  0$;  5 0$;

 
2.3 5  ×  , 5   × 
 
5 5 (  ×  ) (  ×  ) 
5 ------------------
- ---------------------------------------------------  × 
5  5  ×    × 
 

a = 2 = red, b = 0 = black, c = 1 = brown, d = gold

2.4 In series, the trim pot will add an adjustable value ranging from 0 to its maximum value to
the original resistor value depending on the trim setting. When in parallel, the trim pot
could be 0Ω perhaps causing a short. Furthermore, the trim value will not be additive with
the fixed resistor.

2.5 No, as long as you are consistent in your application, you will obtain correct answers. If
you assume the wrong current direction, the result will be negative.

2.6 Place two 100Ω resistors in parallel and you immediately have a 50Ω resistance.

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2.7 From KCL, , V ,  ,  ,

9V 9 9 9
so from Ohm’s Law -------- ------V  ------V  ------V
5 HT 5 5 5

 - -----
  5 5 5
Therefore, -------- -----  -  ------ so 5 HT ---------------------------------------------------
-
5 HT 5 5 5 5 5  5 5  5 5

,V ,V
2.8 From Ohm’s Law and Question 2.7, 9 -------
- ----------------------------------------------------
5 HT 5 5  5 5  5 5
----------------------------------------------------
5 5 5

and for one resistor, 9 , 5

5 5
 ---------------------------------------------------
Therefore, ,  - ,
5 5  5 5  5 5  V
     

5 5  5 5
2.9 OLP  ------------------
- ------------- 5
5  → ∞ 5   5  5

G9 G9
2.10 , & HT G9
------- &  ---------- &  ----------
GW GW GW
From KVL,
9 9  9
so
G9 G9 G9
------- ----------  ----------
GW GW GW
Therefore,
, , ,    & &
-------- ------  ------ so -------- ------  ------ or & HT ------------------
-
& HT & & & HT & & &  &

2.11 9 9 9

G9 G9
, &  ---------- &  G9
------- and ,  &  ---------- &  G9
-------
GW GW GW GW
From KCL,

&  G9
-------  &  G9 G9
, ,  , ------- ------- ( &   &  )
GW GW GW

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Since , & HT G9
-------
GW
& HT &  &

2.12 , , ,
From KVL,

/  G,
-----  /  G, G,
9 9  9 ----- ----- ( /   /  )
GW GW GW

Since 9 / HT G,
-----
GW
/ HT /  /

G, G,
2.13 9 / G,
----- /  ------- /  -------
GW GW GW
G, G,  G, 
From KCL, , ,  , so ----- -------  -------
GW GW GW

9 9- -----
9  - -----
 / /
Therefore, ---- -----  - so --- -----  - or / -----------------
-
/ / / / / / /  /

2.14 9R 9 , regardless of the resistance value.


2.15 From Voltage Division, 9 R ------------------ (  ±  ) ± 9
  

2.16 Combining R2 and R3 in parallel,

5 5  (  )-
5  ------------------
- ----------- N
5  5 
and combining this with R1 in series,
5  5   5  N
(a) Using Ohm’s Law,
9 LQ 9
, ---------- ---------- P$
5  N

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Solutions Manual

(b) Using current division,

5 --- P$
, -,
------------------ P$
5  5  

(c) Since R2 and R3 are in parallel, and since Vin divides between R1 and R23,

5  
9 9  --------------------
-9 ------- 9 9
5   5  LQ 

2.17
(a) From Ohm’s Law,
9 RXW ± 9  9 ± 9
, ----------------------- ------------------------------- P$
5  N

(b) 9 9 9  9 RXW ± 9  9 ± 9 ± 9

2.18
(a) 5  5  5 NΩ

5  5 
5  --------------------
- NΩ
5   5 

5  5   5  NΩ

5  5 
5 HT -------------------------
- NΩ
5   5 

5 
(b) 9$ -----------------------9 9
5   5  V

9$
(c) ,  ---------- P$
5 

5
, --------------------
-, P$
5   5  

2.19 Using superposition,

5
9 5 -9
------------------ 9
5  5 

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Solutions Manual

5
9 5 -L
------------------ 9
5  5 

9 5 9 5  9 5 9

5 5
2.20 5  ------------------
- NΩ
5  5

9 ± 9
, ------------------
- ± P$
5  5

5 
9$ - ( 9 ± 9 )
-------------------- ±  9
5   5  

2.21 It will depend on your instrumentation, but the oscilloscope typically has an input
impedance of 1 MΩ.

2.22 Since the input impedance of the oscilloscope is 1 MΩ, the impedance of the source will
be in parallel, and the oscilloscope impedance will affect the measured voltage. Draw a
sketch of the equivalent circuit to convince yourself.

5 5
2.23 5  ------------------
-
5  5

5 
9 RXW --------------------
-9
5   5  LQ
(a) 5  NΩ , 9 RXW 9 LQ

(b) 5  NΩ , 9 RXW 9 LQ

When the impedance of the load is lower (10k vs. 500k), the accuracy is not as good.

2.24 It will depend on the supply; check the specifications before answering.

2.25 9 LQ  〈 °〉
Combining R2 and L in series and the result in parallel with C gives:
( 5   = / )= &
= 5 /& ------------------------------------
-  〈 ± °〉  ± M
( 5  =/ )  =&

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Using voltage division,

= 5 /&
9& --------------------------
-9
5   = 5 /& LQ
where
5   = 5 /&    ± M  〈 ± °〉

so

9&  〈 ± °〉 〈 °〉

--------------------------------------------  〈 °〉  〈 UDG〉
 〈 ± °〉
Therefore,
9& ( W )  FRV ( W   )9

2.26 With steady state dc Vs, C is open circuit. So

9& 9V 9 so 9 5  9 and 9 5 9V 9

2.27
(a) In steady state dc, C is open circuit and L is short circuit. So
9V
, ------------------
- P$
5  5

(b) ω π
 
± M-  
=& ------- -------- M -------- ∠± ° Ω
ω& π π
 
= /5  =/  5 Mω/  5  (   πM )Ω  ∠°Ω

= & = /5
= &/5 ------------------------ (  ± M )Ω  ∠± ° Ω
= &  = /5

= HT 5   = &/5 (  ± M )Ω  ∠± ° Ω

9
,V -------V-  ∠° P$
= HT

=&
, ------------------------, (  ∠± ° ), V  ∠± ° P$
= &  = /5  V

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So
,(W)  FRV ( πW ±  ) µ$

2.28
UDG ω
(a) ω π -------- , I ------ +]
VHF π
$ SS $  , GF RIIVHW 

ω-
(b) ω π UDG
-------- , I ----- +]
VHF π
$ SS $  , GF RIIVHW 

ω-
(c) ω π UDG
-------- , I ----- +]
VHF π
$ SS $  , GF RIIVHW 

ω-
(d) ω  UDG
-------- , I ----- +]
VHF π
$ SS $  , GF RIIVHW VLQ ( π )  FRV ( π ) ±


9 UPV
2.29 3 ----------- :
5

2.30 9 UPV 9 SS

- ⁄ ( )
-------- 9
  

9 UPV
3 ----------- :
5

2.31 9P 9 UPV 9

2.32 For 9 UPV 9 , 9 P 9 UPV 9 , and f = 60 Hz,

9(W) 9 P VLQ ( πI  φ )  VLQ ( πW  φ )

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2.33 From Ohm’s Law,

9 ± 9 9
, --------------------- -------
5 5
Since P$ ≤ , ≤ P$ ,

P$ ≤ 9
------- ≤ P$
5
giving
9 - ≤ 5 ≤ --------------
9 - or Ω ≤ 5 ≤ Ω
-----------------
P$ P$

9
For a resistor, 3 ------ , so the smallest allowable resistance would need a power rating of
5
at least:

( 9 )
3 --------------- :
Ω
so a 1/2 W resistor should be specified.
The largest allowable resistance would need a power rating of at least:

(--------------
9 ) -
3 :
Ω
so a 1/4 W resistor would provide more than enough capacity.

2.34 Using KVL and KCL gives:

9 , 5 5 

9 ( ,  ± , 5 )5   ( ,  ± , 5 ± ,  )5 

9 ± 9 ( ,  ± , 5 ± ,  )5  ± ,  5 

The first loop equation gives:

9
,5 ------ P$
5
Using this in the other two loop equations gives:
 ( ,  ± P )N  ( ,  ± P ± ,  )N

 ±  ( ,  ± P ± ,  )N ± ,  N

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Solutions Manual

or
( N ),  ± ( N ),  

( N ),  ± ( N ),  
Solving these equations gives:
, P$ and ,  P$

(a) 9 RXW , 5 ± 9 ± 9

(b) 3 , 9 P: , 3  , 9 P: , 3  ±, 9 ± P:

2.35 Using KVL and KCL gives:

9 , 5 5 

9 ( ,  ± , 5 )5   ( ,  ± , 5 ± ,  )5 

9 ± 9 ( ,  ± , 5 ± ,  )5  ± ,  5 

The first loop equation gives:

9
,5 ------ P$
5
Using this in the other two loop equations gives:
 ( ,  ± P )N  ( ,  ± P ± ,  )N

 ±  ( ,  ± P ± ,  )N ± ,  N
or
( N ),  ± ( N ),  

( N ),  ± ( N ),  
Solving these equations gives:
, P$ and ,  P$

(a) 9 RXW , 5 ± 9 ± 9

(b) 3 , 9 P: , 3  , 9 P: , 3  ±, 9 P:

7 7
9P ,P
2.36 3 DYJ --- ∫ 9 ( W ), ( W ) GW -------------- ∫ VLQ ( ωW  φ 9 ) VLQ ( ωW  φ , ) GW
7 7
 

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Using the product formula trigonometric identity,

7
9P ,P
7 ∫
3 DYJ - ( FRV ( φ 9 ± φ , ) ± FRV ( ωW  φ 9  φ , ) ) GW
-------------


Therefore,
9P ,P 9P ,P
3 DYJ -------------- FRV ( φ 9 ± φ , ) -------------- FRV ( θ )
 

7
--- ∫ , P VLQ ( ωW  φ , ) GW
 
2.37 , UPV
7


Using the double angle trigonometric identity,

7
,P  
, UPV ----- ∫ --- ± FRV [  ( ωW  φ , ) ] GW
7  


Therefore,

, P  7 ,P
, UPV ----- --- -----
7   

5 5
2.38 5  ------------------
- NΩ
5  5

5  --- VLQ ( πW )

9R --------------------
-9
5   5  L 
This is a sin wave with half the amplitude of the input with a period of 1s.

1 9S 9
2.39 ------S ------ ------------- 
1V 9V 9

2.40 RL = Ri = 100Ω for maximum power

2.41 The BNC cable is far more effective in shielding the input signals from electromagnetic
interference since no loops are formed.

12 Introduction to Mechatronics and Meaurement Systems