4.sensors Mecatrónica

Introduction to Mechatronics
Mech-1540
Sensors 1
Stefan B. Williams
1540 Introduction To Mechatronics: Slide 1
Schedule of Events
Week
Date
Content
Assignment Notes
13/3
Introduction
20/3
Design Process
Q 1 of Assign. 1
27/3
Actuators
Q 2 of Assign 1
3/4
Sensors
Q 3 of Assign 1
10/4
Assignment 1 Design Exercise
Due 11/4
17/4
Computer Hardware
Q 1 of Assign 2
MID SEMESTER BREAK
Q 2 of Assign 2
1/5
Computer Software and Design Tools
Q 3 of Assign 2
8/5
System Modelling and Control
Q 4 of Assign 2
15/5
Assignment 2 - Control and Modelling
Due 16/5
10
22/5
Active Sensor Systems (Graham Brooker)
11
29/5
Case Study : Formula SAE
12
5/6
Case Study : Unmanned Air/Land/Sea Vehicles
13
12/6
Major Assignment
14
19/6
Spare
Stefan B. Williams
Due 13/6
Industrial Sensors
Proximity
Mechanical
Optical
Inductive/Capacitive
Position/Velocity
Potentiometer
LVDT
Encoders
Tachogenerator
Force/Pressure
Vibration/acceleration
Stefan B. Williams
Definitions
Accuracy: The agreement between the actual value and
the measured value
Resolution: The change in measured variable to which
the sensor will respond
Repeatability: Variation of sensor measurements when
the same quantity is measured several times
Range: Upper and lower limits of the variable that can be
measured
Sensitivity and Linearity
Stefan B. Williams
Proximity Sensors
Widely used in general industrial automation
Conveyor lines (counting,jam detection, etc)
Machine tools (safety interlock, sequencing)
Usually digital (on/off) sensors detecting the

presence or absence of an object
Consist of:
Sensor head: optical, inductive, capacitive

Detector circuit
Amplifier
Output circuit: TTL, solid state relay
Stefan B. Williams
Mechanical Proximity Switches
Essentially a
mechanical switch
On/off operation only
Two general modes
Normally Open (NO)
Normally Closed (NC)
Come in a wide variety

of mechanical forms
For a wide range of uses
Actuator
Normally
Closed
Common
Normally
Open
Stefan B. Williams
Example Mechanical Proximity

Switches
Stefan B. Williams
When to Use Mechanical

Proximity Switches
Where physical contact is possible

Where definitive position is required
In operation-critical or safety-critical
situations
Where environment conditions preclude the
use of optical or inductive sensors
Stefan B. Williams
Applications and Use of

Mechanical Proximity Switches
Easy to integrate into machinery of all types

Requires contact (thus wear)
Range of voltages: DC 0-1000V, AC, etc.
Very robust (explosion proof if required)
Usually used as:
Limit switch
Presence/absence indicator
Door closed/open
Stefan B. Williams
Places You Find Mechanical

Proximity Switches !
Stefan B. Williams
Optical Proximity Sensors

Consist of a light source (LED) and light detector
(phototransistor)
Modulation of signal to minimize ambient lighting
conditions
Various models: 12-30V DC, 24-240V AC, power
Output: TTL 5V, Solid-state relay, etc.
Modulator
Power
Mixer Signal
Demodulator
Amplifier
Stefan B. Williams
Power Supply
Load
Output
Operational Modes
Through Beam:
Long range (20m)
Alignment is critical !
Retro-reflective
Range 1-3m
Popular and cheap
Diffuse-reflective
Range 12-300mm
Cheap and easy to use
Stefan B. Williams
Example Optical Proximity I

Optical Fibre
Delivery System
Stefan B. Williams
Example Optical Proximity II

Slot Beam
Systems
Stefan B. Williams
When to use an Optical

Proximity Sensor
Non-contact, no moving parts, small.

Fast switching, no switch bounce.
Insensitive to vibration and shock
Many configurations available
Alignment always required

Can be blinded by ambient light conditions
(welding for example)
Requires clean, dust and water free,
environment
Stefan B. Williams
Applications of Optical
Proximity Sensors
Stack height control/box counting

Fluid level control (filling and clarity)
Breakage and jam detection
And many others
http://www.omron-ap.com/application_ex/index.htm
http://www.sick.de/english/products/products.htm
http://content.honeywell.com/sensing/prodinfo/
Stefan B. Williams
Other Optical Devices

Collision Detection
Light
Curtain
Stefan B. Williams
Ultrasonic Proximity Sensors

Use sound pulses
Measures amplitude and time
of flight
Range provides more than
on/off information
Frequencies 40KHz-2MHz
Vibrating Membrane
(metal or ceramic)
Pulse
Sensor
Object
Echo
Stefan B. Williams
When to use Ultrasonic Sensors
Provide range data directly:

Level monitoring of solid and liquids
Approach warning (collisions)
Can (usually) work in heavy dust and water
Ambient noise is potentially an issue
http://www.automationsensors.com/
Stefan B. Williams
Example Applications
Car Wash
Application
Stefan B. Williams
Paper roll
Thickness Monitor
Waste water
flow volume
Inductive and Capacitive

Proximity Sensors
Inductive sensors use change in local
magnetic field to detect presence of metal
target
Capacitive Sensors use change in local
capacitance caused by non-metallic objects
Generally short ranges only
Regarded as very robust and reliable
Stefan B. Williams
Example Inductive Sensors I
Detection of
open/close functions
Detection of
rotation
Stefan B. Williams
Example Inductive Sensors II

Bulk mounted inductive
sensors. Detect presence of
object without contact.
Range 3mm +/- 10%
Stefan B. Williams
Example Capacitive Sensors
Panel Mounted Capacitive

Sensor. Can detect wood,
plastic and metal.
Range 3mm-25mm
Flat mounted Capacitive

Sensor. Used for detecting
panels of glass.
Range=10mm +/- 10%
Stefan B. Williams
Position and Velocity

Measurement
Position and velocity measurement
is often required in feedback loops
For positioning, and velocity control
Position measurement:
Potentiometers
LVDT
Encoders
Velocity Measurement:
Tachometer
Stefan B. Williams
Potentiometers
An analog sensor
Works as a voltage divider
Vin
R
Vout
Stefan B. Williams
Types of Potentiometer
Wirewound
Wiper slides along coil of Ni-chrome wire
Wire tends to fail, temperature variations
Cermet
Wiper slides on conductive ceramic track
Better than wire inmost respects
Plastic film
High resolution
Long life and good temperature stability
Stefan B. Williams
Linear Potentiometers
Stefan B. Williams
When to use a Potentiometer
Require analog signal for control

Require absolute positional information
Low cost
Temperature and wear variations
Not in dusty or wet environments
Stefan B. Williams
Linear Variable Differential

Transformer (LVDT)
An LVDT consists of a magnetic core that moves in a cylinder
The sleeve of the cylinder contains a primary coil that is driven
by an oscillating voltage
The sleeve also contains two secondary coils that detect this
oscillating voltage with a magnitude equal to displacement
The automatic nulling that can be achieved using two coils
makes LVDTs very accurate (submillimetre)
Vinsint
Voutsin(t+)
Phase measurement
Stefan B. Williams
LVDT Signal Conditioning

Uses AC modulation,
demodulation and
phase comparison
Available in a single
monolithic package
Zero
Set
LVDT
Power
Supply
Carrier
Oscillator
AC Power
Stefan B. Williams
Amplitude
Control
Current
Amplifier
Demodulator
Phase
Shifter
Example LVDTs
Free core LVDTs for
use in hostile environments
And total emersion
Spring-loaded
Standard for use
In hydraulic cylinders
Stefan B. Williams
When to use an LVDT
High accuracy
Linear operation (synchro resolver is
equivalent rotary LVDT)
Harsh environment
Analog position control
Embedding (in cylinder for example)
Stefan B. Williams
Optical Encoders
Encoders are digital Sensors commonly used to
provide position feedback for actuators
Consist of a glass or plastic disc that rotates
between a light source (LED) and a pair of photodetectors
Disk is encoded with alternate light and dark sectors
so pulses are produced as disk rotates
Stefan B. Williams
Encoder Internal Structure
Stefan B. Williams
Incremental Encoders
Pulses from leds are
counted to provide
rotary position
Two detectors are used
to determine direction
(quadrature)
Index pulse used to
denote start point
Otherwise pulses are
not unique
Stefan B. Williams
Absolute Encoders
Absolute encoders have
a unique code that can
be detected for every
angular position
Often in the form of a
grey code; a binary
code of minimal change
Absolute encoders are
much more complex
and expensive than
incremental encoders
Stefan B. Williams
Encoder processing
Need a squaring circuit
to digitise signal
A counter and index
monitor
Generally available in
monolithic form
Often with algorithms
for control externally
programmable
Stefan B. Williams
When to Use an Encoder

Require accurate
position information:
10,000 line incremental
360 line absolute
Digital feed-back loop

Compact and
reasonably rugged (not
as good as inductive)
Linear encoders also
available
Stefan B. Williams
Tachometers
Measurement of rotary
speed using a DC
generator
Essentially a motor
running in reverse
Used to be common to
have these attached to
motors to enable direct
analog feedback
Much less common now
with digital control (use
incremental encoders)
Stefan B. Williams
Tacho generator for large

industrial plant (GE)
Force and Pressure

Force and Pressure generally measured
indirectly through deflection of an alternate
surface
Mechanism include:
Physical motion and measurement using (eg) an
LVDT
Strain gauges (metal that changes resistance when
stressed)
Piezo electric materials that generate a current
when deformed
Stefan B. Williams
LVDT Load Cell

Table
Force
Spring or
Piston
LVDT
Outer
Platform
Stefan B. Williams
Strain Gauge Bridge

R
R=
R
L
L
R = R GF
GF =
Tension
Vmeas R3
R2
=
Strain Gauges
Vexc R3 + R4 R1 + R2
assume R1 = R2 , R4 = RG ,
R3 = RG + R
4Vmeas
then =
GF ( 2Vmeas Vexc )
Stefan B. Williams
Example Load Cells
Subminature
Load cells
Reaction torque
load cell
Axial load cell
http://www.entran.com/ltoc.htm
Stefan B. Williams
Sub-miniature Load cells
All signal conditioning

and amplification integrated
with the sensor
Stefan B. Williams
Load cell bridge structure

Piezo Load Cells
Distortion of crystal,
either quartz or BaTiO3
Used for accurate
measurement of small
loads
Come in the form of:
single axis load washers
or multiple axis load
washers and tables
Stefan B. Williams
Pressure
Pressure measured by:
Pitot tube and
Deformation of fixed
membrane
Deformation measured
using same methods as
for force:
Industry IP69
Spring (manometer)
Piezo distortion
Strain gauges
Miniature
High Temperature
Stefan B. Williams
Acceleration
Acceleration is also
measured via the force
exerted by an
accelerating mass
Distortion of a piezo
Motion of a cantilever
Strain on mass
restraints
Accelerometers mainly
used to measure
vibration
Stefan B. Williams
Single Axis,
10,000g
Shielded for
Severe
environment
EMI
shielded
Tri-axial Accelerometers
Triaxial accelerometers
used in mobile systems
In high-performance cars
Inside rotating elements
of turbines
In aircraft elements
Triple axis
Accelerometer
For racing cars
Provide vibration
information
Provide short-term
position data
Stefan B. Williams
Silicon Machined
Accelerometers
Used in eg air-bags
Cantilever
beams
Stefan B. Williams
Silicon Gyroscopes
Structural arrangement
of silicon which records
centrifugal acceleration
and thus angular speed
Use strain-gauge
bridges and/or piezo
structure to record
deformations
Multiple component
elements to calibrate
other accelrations
Stefan B. Williams
Inertial Systems
Many different types of accelerometer and
gyroscope systems
Mechanical bodies, fibre optic, etc
Together in an orthogonal arrangement of
accelerometers and gyroscopes, these
comprise an inertial measurement unit (IMU)
An IMU that is used for navigation is called an
inertial navigation system (INS)
These are widely used in aircraft and missile
navigation and guidance
Stefan B. Williams
Aerospace INS
Ballistic
Missile
Aircraft
http://www.littongcs.com/products/2guidance/space/overview.html
Stefan B. Williams

4.sensors Mecatrónica

Transféré par

Informations du document

Titre original

Copyright

Formats disponibles

Partager ce document

Partager ou intégrer le document

Options de partage

Avez-vous trouvé ce document utile ?

Ce contenu est-il inapproprié ?

Droits d'auteur :

Formats disponibles

4.sensors Mecatrónica

Transféré par

Droits d'auteur :

Formats disponibles

Introduction to Mechatronics

1540 Introduction To Mechatronics: Slide 1

Assignment 1 Design Exercise

MID SEMESTER BREAK

Computer Software and Design Tools

System Modelling and Control

Assignment 2 - Control and Modelling

Active Sensor Systems (Graham Brooker)

Case Study : Formula SAE

Case Study : Unmanned Air/Land/Sea Vehicles

1540 Introduction To Mechatronics: Slide 2

1540 Introduction To Mechatronics: Slide 3

1540 Introduction To Mechatronics: Slide 4

Usually digital (on/off) sensors detecting the

Sensor head: optical, inductive, capacitive

1540 Introduction To Mechatronics: Slide 5

Mechanical Proximity Switches

Come in a wide variety

1540 Introduction To Mechatronics: Slide 6

Example Mechanical Proximity

1540 Introduction To Mechatronics: Slide 7

When to Use Mechanical

Where physical contact is possible

1540 Introduction To Mechatronics: Slide 8

Applications and Use of

Easy to integrate into machinery of all types

1540 Introduction To Mechatronics: Slide 9

Places You Find Mechanical

1540 Introduction To Mechatronics: Slide 10

Optical Proximity Sensors

1540 Introduction To Mechatronics: Slide 11

1540 Introduction To Mechatronics: Slide 12

Example Optical Proximity I

1540 Introduction To Mechatronics: Slide 13

Example Optical Proximity II

1540 Introduction To Mechatronics: Slide 14

When to use an Optical

Non-contact, no moving parts, small.

Alignment always required

1540 Introduction To Mechatronics: Slide 15

Stack height control/box counting

1540 Introduction To Mechatronics: Slide 16

Other Optical Devices

1540 Introduction To Mechatronics: Slide 17

Ultrasonic Proximity Sensors

1540 Introduction To Mechatronics: Slide 18

When to use Ultrasonic Sensors

Provide range data directly:

1540 Introduction To Mechatronics: Slide 19

1540 Introduction To Mechatronics: Slide 20

Inductive and Capacitive

1540 Introduction To Mechatronics: Slide 21

Example Inductive Sensors I

1540 Introduction To Mechatronics: Slide 22

Example Inductive Sensors II

1540 Introduction To Mechatronics: Slide 23

Example Capacitive Sensors

Panel Mounted Capacitive

Flat mounted Capacitive

1540 Introduction To Mechatronics: Slide 24

Position and Velocity

1540 Introduction To Mechatronics: Slide 25

1540 Introduction To Mechatronics: Slide 26