Page 871 - The Mechatronics Handbook

29

Digital Signal Processing

for Mechatronic

Applications

29.1 Introduction
29.2 Signal Processing Fundamentals
Continuous-Time Signals • Discrete-Time Signals
29.3 Continuous-Time to Discrete-Time Mappings
Discretization • s-Plane to z-Plane Mappings
• Frequency Domain Mappings
Bonnie S. Heck 29.4 Digital Filter Design
IIR Filter Design • FIR Filter Design • Computer-Aided
Georgia Institute of Technology
Design of Digital Filters • Filtering Examples
Thomas R. Kurfess 29.5 Digital Control Design
Georgia Institute of Technology Digital Control Example

29.1 Introduction

Most engineers work in the world of mechatronics as there are relatively few systems that are purely
mechanical or electronic. There are a variety of means by which electrical systems augment mechanical
systems and vise versa. For example, most microprocessors found in a computer today have some sort
of heat sink and perhaps a fan attached to them to keep them within their operational temperature zone.
Electrical systems are widely employed to monitor and control a wide variety of mechanical systems.
With the advent of inexpensive digital processing chips, digital filtering and digital control for mechanical
systems is becoming commonplace. Examples of this can be seen in every automobile and most household
appliances. For example, sensor signals used in monitoring and controlling of mechanical systems require
some form of signal processing. This signal processing can range from simply “cleaning-up” the signal
using a low pass filter to more advanced analyses such as torque and power monitoring in a DC servo
motor. This chapter presents a brief overview of digital signal processing methods suitable for mechanical
systems. Since this chapter is limited in space, it does not give any derivation or details of analysis. For
a more detailed discussion, see references [1,2].

29.2 Signal Processing Fundamentals

A few fundamental concepts on signal processing must be introduced before a discussion of filtering or
control can be undertaken.

©2002 CRC Press LLC