Sensor - mesin.itb.ac.id 2013.pdfSensor is a device that when exposed to a physical phenomenon...
Transcript of Sensor - mesin.itb.ac.id 2013.pdfSensor is a device that when exposed to a physical phenomenon...
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SENSOR MEKATRONIKA 2
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SENSORS AND TRANSDUCER
Sensor is a device that when exposed to a physical phenomenon (temperature,displacement, force, etc.) produces a proportional output signal (electrical,mechanical, magnetic, etc.).
The term transducer is often used synonymously with sensors. However, ideally, asensor is a device that responds to a change in the physical phenomenon. On theother hand, a transducer is a device that converts one form of energy into anotherform of energy.
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SENSORS AND TRANSDUCER (CONTD)
Sensors are transducers when they sense one form of energy input and output in a
different form of energy. For example, a thermocouple responds to a temperature
change (thermal energy) and outputs a proportional change in electromotive force
(electrical energy). Therefore, a thermocouple can be called a sensor and ortransducer.
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WHAT IS A SENSOR?
• A device for measuring some quantity
• The sensor usually converts from the measurement space to an electrical signal
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MECHANICAL
• Position
• Displacement Linear/ rotary
• Velocity Linear/ rotary
• Acceleration Linear/ rotary
• Tilt (Roll/Pitch)
• Proximity
• Range/Distance
• Force
• Torque (Moment)
• Pressure (Area/Tactile)
• Strain (Linear/Rotational
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OPTICAL
• Intensity
• Wavelength
• Image/Vision
• IR
• Reflectance
• Transmittance
• Scattering
• Interference
• Polarization
• Refractive index
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ACCOUSTIC
• Density
• Flow (Liquid/Gas)
• Viscosity
• Thickness
• Mass
• Surface Morphology (Texture)
• Intensity
• Frequency
• Ultrasonic
• Interference
• Imaging
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ELECTRICAL
• Voltage
• Current
• Impedance/Resistance/Conductance
• Electric Field static/dynamic
• Magnetic Field static/dynamic
• Magnetization static/dynamic
• Polarization
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THERMAL
• Temperature
• IR Imaging
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CHEMICAL
• Concentration
• Ph
• Enzymes
• Ions
• Gases
• Liquids
• (Humidity)
• Biological
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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
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INDUSTRIAL SENSORS
• Proximity
– Mechanical
– Optical
– Inductive/Capacitive
• Position/Velocity
– Potentiometer
– LVDT
– Encoders
– Tachogenerator
• Force/Pressure
• Vibration/acceleration
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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
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MECHANICAL PROXIMITY SENSORS
• 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
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EXAMPLE MECHANICAL PROXIMITY SWITCHES
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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
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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
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PLACES YOU FIND MECHANICALPROXIMITY SWITCHES !
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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.
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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
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EXAMPLE OPTICAL PROXIMITY I
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EXAMPLE OPTICAL PROXIMITY II
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WHEN TO USE AN OPTICAL PROXIMITY SENSOR
• Pros
– Non-contact, no moving parts, small.
– Fast switching, no switch bounce.
– Insensitive to vibration and shock
– Many configurations available
• Cons
– Alignment always required
– Can be blinded by ambient light conditions (welding for example)
– Requires clean, dust and water free, environment
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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/
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OTHER OPTICAL DEVICES
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ULTRASONIC PROXIMITY SENSORS
• Use sound pulses
• Measures amplitude and time of flight
• Range provides more than on/off information
• Frequencies 40KHz-2MHz
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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/
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EXAMPLE APPLICATIONS
Car wash application Paper Roll Thickness Monitor Waste water monitor
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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
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EXAMPLE INDUCTIVE SENSORS I
Detection of open/close functions
Detecting of rotation
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EXAMPLE INDUCTIVE SENSORS II
Bulk mounted inductive
sensors. Detect presence of
object without contact.
Range 3mm +/- 10%
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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%
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POSITION AND VELOCITY SENSORS
•Position and velocity measurement is often required in feedback loops
•For positioning, and velocity control
•Position measurement
• Potentiometers
•LVDT
•Encoders
•Velocity Measurement:
• Tachometer
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POTENTIOMETER
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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 in most respects
• Plastic film
High resolution
Long life and good temperature stability
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LINEAR POTENTIOMETER
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WHEN TO USE POTENTIOMETER
• Prospective
Require analog signal for control
Require absolute positional information
Low cost
• Constraints
Temperature and wear variations
Not in dusty or wet environments
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LINEAR VARIABLE DIFFERENTIALTRANSFORMER (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 voltagewith a magnitude equal to displacement
• The automatic nulling that can be achieved using two coils makes LVDTsvery accurate (submillimetre)
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LVDT SIGNAL CONDITIONING
• Uses AC modulation, demodulationand phase comparison
• Available in a single monolithicpackage
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EXAMPLE LVDTS
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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)
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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 photo-detectors
• Disk is encoded with alternate light and dark sectors so pulses are produced as disk rotates
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ENCODER INTERNAL STRUCTURE
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ABSOLUTE ENCODER
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HALL EFFECT
In 1879, E.H. Hall discovered a small transverse voltage
was generated across a current-carrying conductor in the
presence of a static magnetic field, a phenomenon now
known as the Hall effect
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HALL EFFECT
Detecting gear teeth in a ferrous material
using a Hall switch and a bias magnet.
Courtesy of Allegro Microsystems, Inc.
Output of an analog Hall sensor vs. position
relative to a magnet. Courtesy of Allegro
Microsystems,
Inc.
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TYPE OF SENSORS FOR VARIOUS MEASUREMENT OBJECTIVES
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A TYPICAL MECHATRONICS SYSTEM