Chapter - Review of Sensors and Actuators

MECHATRONICS SYSTEM MODELLING
CHAPTER
REVIEW OF SENSORS AND
ACTUATORS
Assoc. Prof. Dr Vo Tuong Quan
 2014 – Department of Mechatronics

HCMUT - 2017
Chapter outcomes
2
Introduction
• What is SENSOR? ACTUATOR
• WHAT FOR?
3
Introduction-Sensors: Types
• Electromagnetic
– Radar
– Current, voltage – EKG, EMG, EEG, …
4
• Mechanical
– Physical pressure/force
– accelerometer
– Sound
– Heat
5
• Chemical
– Smell
– Taste
– pH
– glucometer
6
• Biological
– DNA
– T cell count
7
Introduction-Sensors: sizes
• Huge. Examples:
–?
• Medium:
–?
• Tiny:
–?
• Stationary, mobile with people, automatic
mobile,…
–?
8
Sensor and Actuator characteristics
Range/span: The range (or span) of a sensor is the
difference between the minimum (or most negative) and
maximum inputs that will give a valid output.
9
Resolution: The resolution of a sensor is the smallest
increment of input that can be reliably detected
10
Sensitivity
– Sensor sensitivity is defined
as the change in output per
change in input.
– The sensitivity of digital
sensors is closely related to
the resolution.
– The sensitivity of an analog
sensor is the slope of the
output versus input line.
11
Error
Error is the difference between a
measured value and the true input value.
12
• System Error Bias errors are present in all
measurements made with a given sensor, and cannot be
detected or removed by statistical means.
– calibration errors.
– loading errors.
– errors due to sensor sensitivity to variables other than
the desired one (e.g., temperature effects on strain
gages).
13
• Random Error
Is unpredictable error.
Causes:
– Random noise.
– Environment effects …
14
15
Repeatability: Repeatability (or reproducibility) refers
to a sensor’s ability to give identical outputs for the same
input.
16
Linearity
17
• Accuracy
Precision: Low standard
deviation, good repeatability
Accuracy: Average measured
value is close to true value.
18
Impedance Impedance is the ratio of voltage and
current flow for a sensor.
Ohm Unit
19
Nonlinearities
20
Hysteresis
21
Backlash
22
Saturation
23
Deadband The deadband is typically a region of input
close to zero at which the output remains zero.
24
Stability A system in equilibrium will remain in the same
state in the absence of external disturbances.
A stable system will return to an equilibrium state if a
“small” disturbance moves the system away from the initial
state.
An unstable system will not return to an equilibrium
position, and frequently will move “far” from the initial state.
.
25
Sensor
26
Sensor
Linear and Rotational Sensors
27
Sensor
Relative Linear and Rotational Sensors-Optical encoder

Sensor
Absolute Linear and Rotational-Optical sensor
Video
1
Resolution = N
2
The encoding disk, having n traces, is able to distinguish between 2n different

angle positions.

Sensor
Greycode Rotational Sensors-Optical encoder
The coded disk functions properly
only on exact mutual alignment of
the n-light sources and receivers.
Hazardous states can occur in
transition between code 01.... 1
and 10...0 when bits in each of
the n traces change. The unit
distance code, i.e. the code in
which two neighboring
combinations of bits differ only by
one bit (e.g. Gray code) can avoid
the problems

Sensor
Linear and Rotational Sensors - Potentiometer

Sensor
Linear and Rotational Sensors - LVDT – Linear
Variable Differential Transformer

Sensor
Linear and Rotational Sensors - LVDT – Linear
Variable Differential Transformer
AC signal output
Magnitude is related to distance
Phase is related to direction

Linear and Rotational Sensors
Resolvers
• Is used to define rotation angle
u1 (t )  K .U .cos .sin t.u2 (t )  K .U .sin .sin t
34
Sensor
Acceleration Sensors
35
Sensor
Acceleration Sensors
The force (F) on a mass (m) subject
to acceleration (a), according to
Newton’s Second Law, is
F=ma
The deflection (x) of a restraining
spring according to Hooke’s Law is
proportional to the applied force:
F=kx
From the above two equations…
a(acceleration) is proportional to
x(displacement)

Sensor
Acceleration Sensors-Piezoelectric type

Sensor
Acceleration Sensors-Capacitance type
The sensor element is a

differential capacitor whose
output is proportional to
acceleration. The beam is made
up of many interdigitated
fingers.
Video

Sensor
Force Measurement
39
Principle
(null balance method) (displacement method).
40
Force Sensors
• Strain gauge
41
Force Sensors
• Strain gauge
42
Force Sensors
• Strain gauge
43
Force Sensors
• Strain gauge
44
Force Sensors
• Piezoelectric method
Bending
45
Sensor
Flow Measurement
46
The Prandtl tube
Video
47
The orifice plate
Video
with:
– A1, A2: the cross-section of the “flow”
where p1 and p2 are [m2]
– ρ: the density [kg/m3]
– p1, p2: the static pressure [Pa]
48
The Venturi tube
49
The float flow meter (rotameter)
• The flow of a liquid through a rotaflow
meter
Video
50
Target flow meter
• The flow meter consists of a target, at which the liquid or
the gas exerts a force.
• We can calculate the flow in function of the exerted force
51
Principle
52
Principle
• The oval cogwheel meter
Video
53
Principle
• The angular piston meter
54
Sensor
• Torque and Power Measurement
55
Sensor
Temperature Measurements
56
DIRECT MEASUREMENT
57
Glass thermometer
Simple
High precision
Use for device calibration
Easy broken
58
Liquid filled expansion
thermometers
The liquid filled expansion thermometer is an old-fashioned but reliable

device,
No auxiliary energy is needed.
The accuracy is about 0.5% FS.
59
Gas filled expansion thermometer
or pressure thermometer detector
whole volume is filled with high-pressured gas
Applications:
food industry,
mechanical engineering,
the pharmaceutical and chemical industry.
Maximum spans from –250°C to +800°C are feasible with an extreme accuracy rate of
±0.6% of the span. The distance between the bulb and the indication is 100 m
maximum. 60
Vapor-pressure systems
liquids that qualify for this kind of

measurement are butane,
propane, hexane, to luene, etc.
The span depends on the

liquid used and can range from
approximately 50°C to 260°C.
This measurement is cheap, but

suffers from inaccuracy, non-
linearity and possible gross
errors.
61
Bimetallic thermometer
A span ranging from –50°C to +500°C is feasible. The accuracy is about 1% of

the span.
Low price
Low accuracy
62
THERMOELECTRIC
63
Thermocouple
The voltage between two points a and b is proportional to the difference in

temperature and the Seebeck coefficient.

Thermocouple

Thermocouple

Thermocouple

Resistance temperature detectors
(RTDs)
For most metals the change of resistance R with temperature T can be
expressed in an equation of the form:
in which resistance R0 is the resistance at 0°C.

Resistance temperature detectors
(RTDs)

RTD
Two wires connection
Three wires connection

Four wires connection
RTD
• We distinguish the following types:
– RTDs with glass casing: advised for corrosive
surroundings, span from –220 to 500°C.
– RTDs with ceramic insulation and steel casing: span
from –220 to 850°C, good mechanical qualities.
– RTDs with a metal film: a platinum film is deposited or
sputtered on a flat, narrow ceramic sheet, etched with
a laser and cut off from the surroundings by a
polymer film. It is very compact and has a high
specific resistance; it is cheap but less stable.

Thermistor
Thermistor is a temperature sensitive resistance device made of
semiconductor material.

Thermistor
• The word is a portmanteau of thermal and resistor.
Thermistors are widely used as inrush current limiters,
temperature sensors, self-resetting overcurrent
protectors, and self-regulating heating elements.
• Thermistors differ from resistance temperature detectors
(RTD) in that the material used in a thermistor is
generally a ceramic or polymer, while RTDs use pure
metals. The temperature response is also different;
RTDs are useful over larger temperature ranges, while
thermistors typically achieve a higher precision within a
limited temperature range, typically −90 °C to 130 °C

Thermistor
•The thermocouple is the most versatile

thermometer,
•the RTD is the most accurate and
•the thermistor is the most sensitive.

Pyrometer

Pyrometer
• A pyrometer is a non-contacting device that intercepts
and measures thermal radiation, a process known as
pyrometry. This device can be used to determine the
temperature of an object's surface.
• The word pyrometer comes from the Greek word for fire,
"πυρ" (pyro), and meter, meaning to measure.
Pyrometer was originally coined to denote a device
capable of measuring temperatures of objects above
incandescence (i.e. objects bright to the human eye).

Pyrometer
• A pyrometer has an optical system and a detector. The
optical system focuses the thermal radiation onto the
detector. The output signal of the detector (temperature
T) is related to the thermal radiation or irradiance j* of
the target object through the Stefan–Boltzmann law, the
constant of proportionality σ, called the Stefan-
Boltzmann constant and the emissivity ε of the object.
• This output is used to infer the object's temperature.
Thus, there is no need for direct contact between the
pyrometer and the object, as there is with thermocouples
and resistance temperature detectors (RTDs).

Pyrometer
•ADVANTAGE:
Moving object, very high or
very low temperature object.
Large span, high precision,
long distance.
Fast.
Non-contact  dose not
affect process.
78
IC TEMPERATURE SENSOR
• Common IC temperature sensor:
– LM135, LM235, LM335: 10mV/K output.
– LM35: 10mV/0C output.
– LM34: 10mV/0F output.
– AD590: 1 μA/K output.
79
IC TEMPERATURE SENSOR-
APPLICATIONS
80
Sensor
Distance Measuring and

Proximity Sensors
81
Ultrasonic sensors
Ultrasonic waves are mechanical oscillations at a

frequency which is beyond the audibility of humans
(more than 20 kHz).

Ultrasonic sensors
• Travel time principle
Lag time equal to the elapsed time between the emission and reception of
pulses.
The received pulses of ultrasonic waves are transformed to the electrical
signal by means of the piezoelectric effect.
Ultrasonic sensors
-Đo khoảng cách với cảm biến siêu âm SRF05

-Cảm biến siêu âm srf05 có khả năng phát hiện vật
cản trong tầm 1cm->4m
-Ứng dụng trong robot dò đường tránh vật cản

Ultrasonic sensors
• Control algorithm:

Ultrasonic sensors
• Doppler effect

Microwave distance sensors
(radar)

Microwave distance sensors (radar)
Microwaves are electromagnetic waves with high

frequency (GHz range).
The procedures used in microwave sensors for
distance and position measurement are analogical
to those of ultrasonic sensors. The measurements
are based on:
– – the travel time measurement;
– – Doppler effect;
– – Frequency Modulated Continuous Wave (FMCW).

Microwave distance sensors
(radar)

Proximity sensor
90
Sensor
Light Detection,
91
Light sources and detectors
• Light Emitting Diode structure

Light sources and detectors
• Laser diodes: Laser action (with the resultant
monochromatic and coherent light output) can be
achieved in a p-n junction formed by two doped GaSe
layers. The two ends of the structure need to be optically
flat and parallel, with one end mirrored and the other
partially reflective. The length of the junction must be
precisely related to the wavelength of the light to be
emitted.

Light detectors
• Photoresistors
•Photoresistors are devices whose
resistance changes upon light entering
the surface.
•The most common materials for their
fabrication are cadmium-based
materials (CdSe, CdS, CdTe), working
in the visible range of the spectrum (400
nm to 700 nm).
•In the infrared range (1.4 μm to 3 μm)
lead-based materials prevail (PbS,
PbSe, PbTe).
•For the range from 3 μm up to 1 mm
indium-based materials (InSb, InAs)
and doped Si and Ge are suitable.

Light detectors
The time response of a photoresistors is usually

slow (fractions of a second) and they find
applications in light switches (street lamps
switching), automatic headlight dimmers in cars,
flame detection, measurement of density of toner in
photocopying machines, etc.)

Light detectors
• Photodiodes
If a p-n junction of a photodiode is forward biased and is exposed to light of a

proper wavelength, the current increase will be very small with respect to a dark
current. If a junction is reverse biased, the current will increase quite noticeably.
Light detectors
Photodiodes

Light detectors
• Phototransistor: A phototransistor operates as a
combination of a reverse biased photodiode and a
conventional transistor. The photon-induced base
current is amplified as in a conventional transistor,
which makes the phototransistor a very sensitive light
detector.

Sensors of position and movement
• Position sensors using the principle of triangulation

Sensor
• Integrated Microsensors
100
Actuator
101
Actuator
• Motor
102
Actuator
• 3 phases AC Motor
103
Actuator
• 1 phase AC motor
104
Actuator
• DC motor
105
Actuator
• Stepper motor
106
Actuator
• Variable Reluctance VR
– Rotor is made of ferit iron. Advantage: large number of steps

Actuator
• Permanent Magnet PM
Rotor is made of permanent

magnetic. Advantage: Large Moment

Actuator
• Mixing type: combine the advantages of the above two
types of stepper motor. That is large number of steps
and large moment
109
Actuator
• Based on phases number
2 phases
4 phases
110
Actuator
• Based on phases number
2/4 phases
- 2 phases: 2 and 5 are not used

- 4 phases: 2 and 5 are use as comment point.
111
Actuator
• Full step actuation

Actuator
• Half step actuation

Actuator
• 1-1 actuation
– Low power consumption.
– Low torque
Số bước 1a 2a 1b 2b
1 1 0 0 0
2 0 1 0 0
3 0 0 1 0
4 0 0 0 1
5 1 0 0 0

Actuator
• 2-2 actuation
– High power consumption.
– High torque
1 1 0 0 1
2 1 1 0 0
3 0 1 1 0
4 0 0 1 1
5 1 0 0 1

Actuator
• 2-1 actuation
– Combine the above types. Give double step number
1 1 0 0 1
2 0 0 0 1
3 0 0 1 1
4 0 0 1 0
5 0 1 1 0
6 0 1 0 0
7 1 1 0 0
8 1 0 0 0
9 1 0 0 1

Actuator
• Hydraulic and Pneumatic Actuation
Systems
117
Actuator
• Piezoelectric actuator
118
Actuator
• Piezoelectric actuator
119

Chapter - Review of Sensors and Actuators

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Chapter - Review of Sensors and Actuators

Uploaded by

Copyright:

Available Formats

MECHATRONICS SYSTEM MODELLING

Assoc. Prof. Dr Vo Tuong Quan

 2014 – Department of Mechatronics

Linear and Rotational Sensors

 2014 – Department of Mechatronics

The encoding disk, having n traces, is able to distinguish between 2n different

 2014 – Department of Mechatronics

 2014 – Department of Mechatronics

 2014 – Department of Mechatronics

 2014 – Department of Mechatronics

 2014 – Department of Mechatronics

u1 (t )  K .U .cos .sin t.u2 (t )  K .U .sin .sin t

 2014 – Department of Mechatronics

 2014 – Department of Mechatronics

The sensor element is a

 2014 – Department of Mechatronics

(null balance method) (displacement method).

• The oval cogwheel meter

• The angular piston meter

The liquid filled expansion thermometer is an old-fashioned but reliable

whole volume is filled with high-pressured gas

liquids that qualify for this kind of

The span depends on the

This measurement is cheap, but

A span ranging from –50°C to +500°C is feasible. The accuracy is about 1% of

The voltage between two points a and b is proportional to the difference in

 2014 – Department of Mechatronics

 2014 – Department of Mechatronics

 2014 – Department of Mechatronics

 2014 – Department of Mechatronics

in which resistance R0 is the resistance at 0°C.

 2014 – Department of Mechatronics

 2014 – Department of Mechatronics

Two wires connection

Three wires connection

 2014 – Department of Mechatronics

 2014 – Department of Mechatronics

 2014 – Department of Mechatronics

•The thermocouple is the most versatile

 2014 – Department of Mechatronics

 2014 – Department of Mechatronics

 2014 – Department of Mechatronics

 2014 – Department of Mechatronics

Distance Measuring and

Ultrasonic waves are mechanical oscillations at a

 2014 – Department of Mechatronics

-Đo khoảng cách với cảm biến siêu âm SRF05

 2014 – Department of Mechatronics

 2014 – Department of Mechatronics

 2014 – Department of Mechatronics

 2014 – Department of Mechatronics

Microwaves are electromagnetic waves with high

 2014 – Department of Mechatronics

 2014 – Department of Mechatronics

• Light Emitting Diode structure

 2014 – Department of Mechatronics

 2014 – Department of Mechatronics

 2014 – Department of Mechatronics

The time response of a photoresistors is usually

 2014 – Department of Mechatronics

If a p-n junction of a photodiode is forward biased and is exposed to light of a

 2014 – Department of Mechatronics

 2014 – Department of Mechatronics

• Position sensors using the principle of triangulation