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ELCT 903
Lecture # 3
Dynamic characteristics for sensor design
Part I
Sept. 23th, 2017
Lecture # 3
Dynamic characteristics for sensor design
Part I
Contents
Zero Order Sensing System
First Order Sensing System
Second Order Sensing System
Step input
Ramp input
Sinusoidal input
Dynamic Characteristics
The sensor performance can be examined by two ways,
1. When steady or constant input signals are applied, comparison of the
steady output with the ideal case gives the static performance of the
system
2. When changing input signals are applied, comparison with the ideal
case gives the dynamic performance of the systems
Dynamic Static
Characteristics Characteristics
at Transient conditions at Steady conditions
Dynamic Characteristics
Dynamic characteristics tell us about how well a sensor
responds to changes in its input. For dynamic signals, the
sensor or the measurement system must be able to respond
fast enough to keep up with the input signals.
d n y (t ) d n 1 y (t ) dy (t )
an n
an 1 n 1
... a1 a0 y (t )
dt d t dt
System Dynamics
mn
y (t ) Output from the system (t ) time
x(t ) Input to the system
a s and b s System physical parameters, assumed constant
Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (5)
Sensor Technology (Part 1 of 4) Introduction for Dynamic Characteristics
d n y (t ) d n 1 y (t ) dy (t )
an n
a n 1 n 1
... a 1 a0 y (t )
d t d t dt
d m x(t ) d m1 x(t ) dx(t )
bm m
bm 1 m 1
... b1 b0 x(t )
d t d t dt
xh is obtained when R.H.S.
Is consider zero. So, xh will
be vanished after certain
time Tf. Therefore, xh is
termed as
Transient Solution
d n y (t ) d n 1 y (t ) dy (t )
an an 1 ... a1 a0 y (t )
d nt d n 1t dt
d m x(t ) d m1 x(t ) dx(t )
bm m
b m 1 m 1
... b1 b0 x(t )
d t d t dt
o i
Sensitivity Sensitivity will
o vary according to
i equals to the
slope of the i the value of the
calibration graph output
Input i Input i
Zero-order Systems
All the as and bs other than a0 and b0 are zero.
d n y (t ) d n 1 y (t ) dy (t )
an an 1 ... a1 a0 y (t )
d nt d n 1t dt a0 y(t ) b0 x(t )
d m x(t ) d m1 x(t ) dx(t )
bm b ... b b0 x(t )
d tm m 1 m 1
d t
1
dt 1
y (t ) b0 b0 a0
Static sensitivity K K y (t ) x(t )
x(t ) a0 a0
y(t ) K x(t )
A linear potentiometer used as position sensor is a zero-order
sensor.
x Eex Where 0 x xm and Eex is a reference
V2 Eex K
xm xm voltage
Output V2 Output voltage Eo(x)
Linear Potentiometer
(Position sensor)
V2
Slider arm
V2 Slider
Displacement (x) V1
x
xm IR x=0
V2=V1-IR(x)
Input x I
Sensitivity equals to the slope of the Eex
calibration graph
Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (10)
Sensor Technology (Part 2 of 4) Zero-order Systems
Zero-order Systems
Input and output are related by an equation of the type
y(t ) K x(t )
Zero-order is the desirable response of a sensor
No delays
Infinite bandwidth
The sensor only changes the amplitude of the input
signal
Zero-order systems do not include energy-storing
elements Could the Micro-optical Sphere
considered as a zero-order system? Why?
Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (11)
Sensor Technology (Part 2 of 4) Zero-order Systems
Equilibrium Optical cavities could be model as mechanical
system
position
Input force
At t = F Fo sin(t )
m
0s
At t = 2,500 5
m
(pm)
0.5s 2,000 4
1,500 3
(V/m)
E-Field, [V/m]
Sphere deflection,
At t = 1,000 2
m
d, [pm]
500 1
1s
E-Field,
0 0
-500 0.0 0.5 1.0 1.5 2.0 2.5 -1
At t = -1,000 -2
1.5s m -1,500 -3
-2,000 -4
-2,500 -5
At t = Time, [s]
m
2s 4 pm
Sensitivit y 1
0.002 pm / Vm 1
2000Vm
|d/dE| , [pm/Vm-1]
At t = 1.5
m Bandwidth
1s
1.0
At t = 0.5
1.5s m
0.0
0 200 400 600 800 1000
At t = E-field frequency, [Hz]
m
2s
First-order Systems
All the as and bs other than a1 ,a0 and b0 are zero.
d n y (t ) d n 1 y (t ) dy (t )
an a n 1 ... a 1 a0 y (t )
d nt d n 1t dt dy (t )
d m x(t ) d m1 x(t ) dx(t ) a1 a0 y(t ) b0 x(t )
bm m
bm 1 m 1
... b1 b0 x(t ) dt
d t d t dt
1
a1 dy (t ) a1 dy (t ) b
y (t ) Kx(t ) y (t ) 0 x(t ) a0
a0 dt a0 dt a0
y (t )
Design perspective
y Ideal response
point of view
Kxs
For larger the longer
Larger time will take to reach the
0 steady state
x
Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (17)
Sensor Technology (Part 3 of 4) First-order Systems
t
xs
xs xs 1 e
t
xs e
t
em
Normalized error e t
xs
Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (19)
Sensor Technology (Part 3 of 4) First-order Systems
t
e
t
em 1 e
t
y (t ) Kx s e t
Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (21)
Sensor Technology (Part 3 of 4) First-order Systems
dy(t )
y(t ) Kxs sin t
dt
The solution of this differential equation
y(t ) A sin(t ) tan 1 Kxs
A
Where A = amplitude of the steady state response
and = phase shift 1
2 2
Second-order Systems
In general, a second-order measurement system subjected to
arbitrary input, x(t)
d 2 y(t ) dy(t ) 1
a2 a a y (t ) b x (t )
dt 2 1
dt
0 0 a0
a2 d 2 y (t ) a1 dy (t ) b0
2
y(t ) x(t )
a0 dt a0 dt a0
a1 a0 b0
n K
2 a0 a2 a2 a0
the damping ratio, the natural is the static
dimensionless angular frequency sensitivity
Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (24)
Sensor Technology (Part 4 of 4) Second-order Systems
Second-order Systems
a1
2
a2 d y (t ) a1 dy (t ) b0
y(t ) x(t ) 2 a0 a2
2
a0 dt a0 dt a0
a0
n
K a2
b0
2 a1 a2 a1 K
2 a0
n 2 a0 a2 a0 a0
1 1 a2
1 d y(t ) 2 dy (t )
2
n 2
a0 a0 y (t ) Kx(t )
n dt
2 2
n dt
a2
Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (25)
Sensor Technology Next Lecture
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Thank you!
Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (26)