Elements of Mechatronic Systems

Oguz A. Soysal, PhD, is an Emeritus Professor of Electrical Engineering at Frostburg State University in Maryland, USA. He has directed several renewable energy projects and brings extensive teaching experience of over forty years at several universities in the fields of electric machines, power electronics, control systems, and mechatronic design to this unified treatment of mechatronic system fundamentals.

• List of Figures xiiiList of Tables xixPreface xxiAcknowledgments xxiiiList of Abbreviations xxvAbout the Book xxxi1 Introduction 11.1 The Water–Energy Nexus 11.2 Systems and Their Properties 41.3 Thermodynamic Concentrations, Constants, Units, and Relationships 61.3.1 Dimensional Consistency 10End of Chapter 1 Problems 11References 122 The First Law of Thermodynamics and Energy Balances for Closed Systems 132.1 Work and Energy Overview 132.2 Internal Energy and the First Law 152.3 ExpansionWork 192.4 Heat Exchange at Constant Volume 222.4.1 Special Property of Internal Energy for Ideal Gas 252.5 NonexpansionWork 262.5.1 Extension of a Solid 262.5.2 Extension of a Surface 262.5.3 Rotating ShaftWork 272.5.4 ElectricalWork 282.6 Enthalpy 282.6.1 Special Property of Enthalpy for Ideal Gas 322.7 Enthalpy versus Internal Energy for Ideal Gas 322.8 Special Case for Ideal Gas with Little Volume Change 342.9 Relating Cp to Cv for an Ideal Gas 342.10 Adiabatic Changes for Ideal Gas 352.11 Standard Enthalpy Changes 372.12 Enthalpies of Chemical Change, that is Reactions 402.13 Some Other Useful Relationships 42End of Chapter 2 Problems 42References 473 The First Law of Thermodynamics and Energy Balances for Open Systems 493.1 Kinetic and Potential Energies of MovingWater 493.2 First Law Applied to Steady Flow Devices 563.3 First Law Applied to Unsteady Flow Devices 683.4 Major Head Losses in Piping 703.4.1 Head Loss in Pipes with Laminar Flow 713.4.2 Head Loss in Pipes with Laminar or Turbulent Flow 753.5 Minor Head Losses in Piping 803.6 Pump and Turbine Energy 81End of Chapter 3 Problems 86References 934 Second and Third Laws of Thermodynamics, Entropy, and Free Energy 954.1 Defining Entropy 954.2 Entropy and the Heat Engine 984.2.1 Carnot Engine 1004.2.2 Refrigeration (Heat Engine in Reverse) 1044.2.3 Irreversible Heat Engines 1064.3 Clausius Inequality 1074.4 Examples of Entropy Change for Specific Processes 1094.4.1 Entropy Change for Pure Substances 1094.4.2 Entropy Change When Temperature Changes with Heat Transfer 1114.4.3 Entropy Change of Liquids and Solids 1124.4.4 Entropy Change of Ideal Gas 1134.5 Entropy Balances 1144.6 Helmholtz and Gibbs Energies 1204.6.1 When Heating at a Constant Volume in the Absence of Nonexpansion Work 1214.6.2 When Energy Is Transferred as Heat at Constant Pressure, and There Is NoWork Other Than Expansion Work 1214.6.3 Helmholtz Energy 1224.6.4 Gibbs Energy 1234.6.5 Other Properties of Gibbs Free Energy 126End of Chapter 4 Problems 127References 1355 Thermodynamics of Simple Mixtures 1375.1 Chemical Potential 1375.1.1 The Chemical Potential Has a Wider Significance Than Just Being a Descriptor for the Molar Gibbs Free Energy 1385.2 Thermodynamics of Mixing for Ideal Gases 1395.3 Thermodynamics of Mixing for Liquids 1425.3.1 Activity Coefficients 1435.4 Application of Thermodynamics of Mixing for Water Desalination 1495.5 What About WhenWe Have More than One Phase at Equilibrium (No Reaction) 1535.5.1 Gibbs Phase Rule 1545.6 What About WhenWe Have Mixtures that Are Reacting in Solution 154End of Chapter 5 Problems 157References 1616 Thermal Distillation 1636.1 Idealized Distillation Occurring in a Batch Reactor 1636.1.1 Batch Processes with Heat Recovery 1696.2 Overview of Multiple Effect and Multistage Flash Distillation 1716.3 Design of Forward Feed MED System 1766.3.1 First Effect 1776.3.2 Second Effect 1786.3.3 Third Effect 1786.3.4 Fourth Effect 1796.3.5 End Condenser 1806.4 Defining the Performance of Thermal Desalination Systems 1866.5 Quantifying Entropy Change During Desalination 1896.5.1 Flashing 1906.5.2 Flow Through An Expansion Device Without Phase Change 1916.5.3 Pumping and Compression 1936.5.4 Isobaric Heat Transfer 1946.5.5 Thermal Disequilibrium of Discharge Streams 1976.5.6 Chemical Disequilibrium of Discharge Streams 198End of Chapter 6 Problems 200References 2147 Membrane Desalination 2157.1 Overview ofWater Treatment Using Membranes 2157.2 Membrane Operational Parameters 2217.3 Minimum Isothermal ReversibleWork of Membrane Separation 2287.4 Energy Requirements for Desalination Using a Simple One-Stage Reverse Osmosis Module 2337.5 Energy Requirements for Desalination Using Reverse Osmosis Modules in Series, With or Without Energy Recovery 2387.6 A More Practical Approach to Design RO Membrane Desalination that Considers the System Pressure Used to Drive Flow 2447.7 Entropy Losses During Reverse Osmosis 2487.7.1 Flow Through an Expansion DeviceWithout Phase Change 2487.7.2 Pumping 2487.7.3 Chemical Disequilibrium of Discharge Streams 248End of Chapter 7 Problems 251References 2598 Electrodialysis2618.1 Overview ofWater Treatment Using Electrodialysis 2618.2 Common Terms and Definitions in Electrodialysis 2658.3 Thermodynamics of a Reversible Electrodialysis Process 2678.4 Practical Minimum Energy Consumption for Electrodialysis 2718.5 Designing a Practical Electrodialysis System 2738.5.1 Shading Effect 2748.5.2 Electrical Conductivity 2768.5.3 Boundary Layer Resistance 2768.5.4 Donnan Resistance 2788.5.5 Water Transport 2878.5.6 Energy Consumption 288End of Chapter 8 Problems 292References 2989 Electrochemical Treatment of Water 3019.1 Promise of Electrochemistry inWater Treatment 3019.2 Electrochemical Reactions and Reactors 3029.3 Anodic Reactions Under Standard Conditions 3059.4 Cathodic Reactions Under Standard Conditions 3059.5 Calculating Standard Potentials and Gibbs Free Energy Values for Half Reactions 3059.6 Full Cell Reactions at Standard Conditions 3099.7 Full Cell Reactions Under (Standard) Environmental Conditions 3129.8 Theoretical Current Demand 3159.9 Actual Current Demand and Current Efficiency 3229.10 Overpotential and Reaction Kinetics 3249.11 Energy Consumption forWater Treatment 331End of Chapter 9 Problems 332References 336Appendix A 339Index 379