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The inside diameter of the cylinder is 3.5 in. The piston rod has a diameter of 0.5 in. The hy-
draulic power source can generate up to 500 lb/in2 of pressure at a flow rate of 1,200 in3/min

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to drive the piston. (a) Determine the maximum velocity of the piston and the maximum
Downloaded From : EasyEngineering.net
force that can be applied in the forward stroke. (b) Determine the maximum velocity of the
piston and the maximum force that can be applied in the reverse stroke.

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148 Chap. 6 / Hardware Components for Automation and Process Control
Analog–Digital Conversion
6.14 The shaft of a stepper motor is directly connected to a leadscrew that drives a worktable
6.18 (A) A continuous voltage signal is to be converted into its digital counterpart using an

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in an x–y positioning system. The motor has a step angle = 5°. The pitch of the leadscrew
analog-to-digital converter. The maximum voltage range is {30 V. The ADC has a 12-bit
is 6 mm, which means that the worktable moves in the direction of the leadscrew axis by
capacity. Determine (a) number of quantization levels, (b) resolution, and (c) the quanti-
a distance of 6 mm for each complete revolution of the screw. It is desired to move the
zation error for this ADC.

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worktable a distance of 275 mm at a top speed of 20 mm/sec. Determine (a) the number of
6.19 pulses
A voltage signal
and (b) with afrequency
the pulse range of required
0 to 115toVachieve
is to bethis converted
movement. by (c)
means
Howofmuch
an ADC.
time
Determine the minimum number of bits required to obtain a quantization
is required to move the table the desired distance at the desired speed, assuming there errorare
of
(a) 
no {5 Vdue
delays maximum, (b) {1 V maximum, (c) {0.1 V maximum.
to inertia?
6.20 AAsingle-acting
6.15 digital-to-analog converter
hydraulic cylinderuses
witha spring
reference voltage
return has an of 120 diameter
inside V DC and of 95has
mm.eight
Its
binary digit precision. In one of the sampling instants, the data contained
application is to push pallets off of a conveyor into a storage area. The hydraulic power in the
binarycan
source register = 01010101.
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generate to 2.5If
up From a zero-order
:MPa of pressurehold
at a isflow
EasyEngineering.net used to of
rate generate
100,000 the
mmoutput
3
/sec to signal,
drive
3. ADC determine the voltage level of that signal.
the piston. Determine (a) the maximum possible velocity of the piston and (b) the maxi-
6.21 mum
A DAC forceuses
thatacan
reference voltage
be applied of apparatus.
by the 80 V and has(c) 6-bit
Is thisprecision. In four successive
a good application sam-
for a hydrau-
Sec. 7.4 / Analysis of Positioning
pling
lic Systems
periods,
cylinder, or each
would1 sec long, the binary
a pneumatic data
cylinder contained in the output register were 100000,
be better? 173

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011111, 011101, and 011010. Determine the equation for the voltage as a
6.16 (A) A double-acting hydraulic cylinder has an inside diameter of 80 mm. The piston rod function of time
The
has required
between
a diameter pulse
sampling train
of 15instantsfrequency
mm. The 3 and topower
4 using
hydraulic drive the table
(a) a zero-order
source at
canhold a specified
and (b)
generate linear travel
up atofirst-order
4.0 MPa rate
ofhold.
pres-

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can
6.22be sure
obtained
In the by combining
at aprevious
flow rateproblem,Equations
suppose
of 125,000 (7.9)
mm3/sec
that and
toadrive (7.10)
second-orderand rearranging
hold
the piston. (a) were to
Whattoarebe solve
used
the maximum fp:
toforgen-
erate the
possible output
velocity signal.
of the Theandequation
piston the maximumfor the second-order
force that can be hold
appliedis in
the
thefollowing:
forward
E(t) = (b)
stroke? E0 What 2
+ at +arebtthe vt n s rE
, where
maximum fstarting
r n s rg velocity
g 0 =possible Nm ns of
voltage Nspiston
at the
the nbeginning
s rg and theof the time interval.
maximum force
fp = = = = (7.11)
(a) For
that theapplied
can be binary in
data
thegiven60p in stroke?
reverse the60pprevious problem,
60 determine
60 the values of a and b

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6.17 Athat would be used
double-acting in the equation
hydraulic cylinder for the time
is used interval
to actuate between
a linear sampling
joint instants 3robot.
of an industrial and 4.
(b) Compare the first-order and second-order holds in anticipating the voltage
The inside diameter of the cylinder is 3.5 in. The piston rod has a diameter of 0.5 in. The hy- at the 4th
instant.

ine
2 3
draulic power source can generate up to 500 lb/in of pressure at a flow rate of 1,200 in /min
4. NCtoaccuracy
drive the piston. (a) Determine the maximum velocity of the piston and the maximum
force that can be applied in the forward stroke. (b) Determine the maximum velocity of the
EXAMPLE 7.1 the
NC Open-Loop Positioning

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piston and maximum force that can be applied in the reverse stroke.
The worktable of a positioning system is driven by a ball screw whose
Analog–Digital
pitchConversion Downloaded
= 6.0 mm. The screw is connected to From : EasyEngineering.net
the output shaft of a stepper motor

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through a gearbox whose ratio is 5:1 (five turns of the motor to one turn of
6.18 (A) A continuous voltage signal is to be converted into its digital counterpart using an
the screw).converter.
analog-to-digital The stepper
Themotor
maximumhasvoltage
48 steprange
angles. TheV.table
is {30 The must
ADC move a dis-
has a 12-bit

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tance of 250 mm from its present position at a linear velocity = 500 mm/min.
capacity. Determine (a) number of quantization levels, (b) resolution, and (c) the quanti-
Determine
zation (a)ADC.
error for this how many pulses are required to move the table the specified
6.19 A voltage signal with athe
distance and (b) required
range motor
of 0 to 115 Vspeed
is toand pulse rateby
be converted to means
achieveofthe
an desired
ADC.

t
table velocity.
Determine the minimum number of bits required to obtain a quantization error of

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(a)  {5
Solution: (a)VRearranging
maximum, (b) {1 V maximum,
Equation {0.1screw
(c) the
(7.7) to find V maximum.
rotation angle As corresponding
6.20 A digital-to-analog
to a distance x converter
= 250 mm,uses a reference voltage of 120 V DC and has eight

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binary digit precision. In one of the sampling instants, the data contained in the
3 60x
binary register = 01010101. If a zero-order 3hold
6012502
is used to generate the output signal,
determine the voltage level ofAthat
s = signal. = = 15,000°
p 6.0

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6.21 A DAC uses a reference voltage of 80 V and has 6-bit precision. In four successive sam-
plingWith 48 each
periods, step 1angles, each
sec long, the step angle
binary data is
contained in the output register were 100000,
011111, 011101, and 011010. Determine the equation for the voltage as a function of time

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between sampling instants 3 and 4 usinga(a)
3 60
= a zero-order
= 7.5°hold and (b) a first-order hold.
6.22
48
In the previous problem, suppose that a second-order hold were to be used to gen-

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erateThus,
the output signal.ofThe
the number equation
pulses to move forthe
thetable
second-order
250 mm ishold is the following:
E(t) = E0 + at + bt 2, where E0 = starting voltage at the beginning of the time interval.
3 60xr
(a) For the binary data given Asrg
ingthe previous problem, determine the values of a and b
15,000152

t
npthe
that would be used in = equation =for the = 1 0 ,0sampling
= interval between
time 0 0 pulses
instants 3 and 4.
pa a 7.5
(b) Compare the first-order and second-order holds in anticipating the voltage at the 4th
instant.
(b) The rotational speed of the screw corresponding to a table speed of
500 mm/min is determined from Equation (7.10):
vt 500
Ns == = 8 3 .3 3 3 rev/min
p 6
Downloaded From : EasyEngineering.net
Equation (7.6) is used to find the motor speed:

Nm = rgNs = 5183 .3 3 3 2 = 4 1 6 .6 6 7 rev/min

The applied pulse rate to drive the table is given by Equation (7.11):
vt n s rg 5001482152
fp = = = 3 3 3 .3 3 3 Hz
60p 60162