SENSORS and

ACTUATORS
Control Systems
Instrumentation

Lecture notes
Instructor: Ha Le Nhu Ngoc Thanh, Ph.D.

Mechatronics Engineering - Sensors and Actuators 1 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Lecture 5 (Week 5):
Sensor Based on Electrical Resistance

Main contents
1. Potentiometers
2. Strain gauges
3. Resistive Temperature Detector (RTD sensor)
4. Pressure sensors

Mechatronics Engineering - Sensors and Actuators 2 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Terminology
Again, Sensor may use to:
1. To measure the system outputs for feedback control.
2. To measure some types of system inputs (unknown inputs, disturbances, etc.)
for feedforward control.
3. To measure output signals for system monitoring, diagnosis, evaluation,
parameter adjustment, and supervisory control.
4. To measure input and output signal pairs for system testing and experimental
modeling (i.e., for system identification).

Mechatronics Engineering - Sensors and Actuators 3 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Motion Transducer
By motion, it can be given by four kinematic variables:
- Displacement (including position, distance, proximity, size,…)
- Velocity (rate of change of displacement)
- Acceleration (rate of change of velocity)
- Jerk (rate of change of acceleration)
❖ Note that:
Each variable is the time derivative of the preceding one. Motion measurements
are extremely useful in controlling mechanical responses and interactions in
control systems.
Example:
Displacement: x1 x
Velocity: x 2 x1 x
Acceleration: x 3 x 2 x
Jerk: x4 x3 x

Mechatronics Engineering - Sensors and Actuators 4 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Potentiometer
Definition
- The potentiometer, or pot, is a displacement transducer.
- This active transducer consists of a uniform coil of wire or a film of high-
resistance material–such as carbon, platinum, or conductive plastic.

Mechatronics Engineering - Sensors and Actuators 5 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Potentiometer
- A constant voltage 𝑣𝑟𝑒𝑓 is applied across the coil
(or film) using an external dc voltage supply.
- The output signal 𝑣𝑜 of the transducer is the DC
voltage between the movable contact (wiper arm)
sliding on the coil and the reference-voltage
terminal of the coil

L L
x x

Mechatronics Engineering - Sensors and Actuators 6 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Potentiometer
Practical potentiometer configurations for measuring:
(a) Rectilinear motions. (b) Angular motions

x L

x 
vo = vref
vo = vref  max
L

Mechatronics Engineering - Sensors and Actuators 7 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Potentiometer
- Example: Given the circuit as follow
figure, with 𝑅𝑐 is the total resistance
of the potentiometer coil. Let find 𝑣0
based 𝑣𝑟𝑒𝑓 , 𝑅𝐿 , 𝑅𝜃 , 𝑅𝐶 , 𝜃, 𝜃𝑚𝑎𝑥

- Solution:?

OB

A rotatory potentiometer
with a resistive load

Mechatronics Engineering - Sensors and Actuators 8 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Potentiometer
Solve

OB

A rotatory potentiometer
with a resistive load

Mechatronics Engineering - Sensors and Actuators 9 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Strain gauge
Definition
- Strain gauges are electrical sensors
for measuring force.
- The strain is a ratio of change in
length in the direction of applied
load to the original length of an
element. The strain changes the
resistance R.
- Let R is the original resistance
- ∆𝑅 is a change in resistance

R
= G.
R Where:
𝜀: strain to be calculated
G: constant coefficient

Mechatronics Engineering - Sensors and Actuators 10 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Strain gauge
Operational principle
- The shape of workpiece is changed
(expansion or compression) due to
external loading, so the resistance of
strain gauge also changes.
- This change in resistance can be
detected by a using a Wheatstone’s
resistance bridge.

Mechatronics Engineering - Sensors and Actuators 11 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Strain gauge
Computation:
What is relation between 𝑅𝑥 and 𝑅1 , 𝑅2 and 𝑅3 if the Wheatstone’s bridge is
balanced?
Where 𝑅2 is balancing/adjustable resistor
Where 𝑅𝑥 is resistance of strain gauge element

Rx

Mechatronics Engineering - Sensors and Actuators 12 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Strain gauge
Solution:
- First, Kirchhoff's first law is used to
find the currents in junctions B and D A

 I 3 − I x + IV = 0
I1 − I 2 − I V = 0 I1 IV IV
I3

D Ix B
- Then, Kirchhoff's second law is used I2
for finding the voltage in the
loops ABDA and BCDB
Rx
II RR −− II RR −+II RR ==00
3 3
x x
1 1
2 2
V V
V V
C

Current direction is arbitrarily given

- When the bridge is balanced, then IV =
0, so 𝐼𝑥 = 𝐼3 , 𝐼1 = 𝐼2 so the second set
of equations can be rewritten as:
Rx R3 = R2 R1
R2 is variable resistance to do a calibration in the
first operation without any change in Strain gauge

Mechatronics Engineering - Sensors and Actuators 13 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Strain gauge
Categories of strain gauge

Mechatronics Engineering - Sensors and Actuators 14 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Strain gauge
Application and installation of strain gauges
Load cell application
M ( P = Mg )

Mechatronics Engineering - Sensors and Actuators 15 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Strain gauge
Application and installation of strain gauges
Video: https://www.youtube.com/watch?v=xFgHG12t-ug

Mechatronics Engineering - Sensors and Actuators 16 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Strain gauge
Application of strain gauge to detect
durability of a system
- Strain gauges are widely used in
experimental stress analysis and diagnosis
on machines and failure analysis.
- They are basically used for multi-axial
stress fatigue testing, residual stress and
vibration measurement, torque
measurement, bending and deflection
measurement, compression and tension
measurement and strain measurement.
- In aerospace engineering, Strain gauges
are bonded directly to structural load
bearing components to measure stresses
along load paths for wing deflection.

Mechatronics Engineering - Sensors and Actuators 17 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Strain gauge
Application of strain gauge to detect durability of a system
In civil engineering application, strain gauges are used to install on structural
components in a bridge or building to measure stress and compare them to
analytical models and stress calculations.

Mechatronics Engineering - Sensors and Actuators 18 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Resistive Temperature Detector Sensor
Resistive temperature detectors (RTD) use an electrical resistance varying with
temperature. The most common material used in this type of sensor is platinum.
The resistive element may be a coiled platinum wire or a film deposited on a
platinum. RTD sensor is usually integrated a transmitter

Mechatronics Engineering - Sensors and Actuators 19 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Resistive Temperature Detector Sensor
- Resistive temperature detectors (RTD) usually are a linear characteristic of
transfer function. The non-linearity is very predictable and repeatable and is
thus easily corrected.
- Ex.: when the temperature increases, the resistance also rises up and vice versa.

Mechatronics Engineering - Sensors and Actuators 20 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Resistive Temperature Detector Sensor
Popular industrial Temperature sensor RTD-PT100
• Computation

Mechatronics Engineering - Sensors and Actuators 21 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Resistive Temperature Detector Sensor
• Characteristic of transfer function RTD-PT100

Mechatronics Engineering - Sensors and Actuators 22 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Resistive Temperature Detector Sensor
• Signal conditioning circuit: Wheatstone's bridge is used

Computing V ?
R3
VB E
R1 R3
2RC Rx
VA E
2RC Rx R2
V VA VB
2RC Rx R3
E
2RC Rx R2 R1 R3 VB VA

Mechatronics Engineering - Sensors and Actuators 23 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Resistive Temperature Detector Sensor
• Signal conditioning circuit.
- Use of an amplifier (Op-amp) to amplify the imbalance (∆𝑉) of a Wheatstone
bridge voltage.
- The amplified gain (A) is usually adjusted through the choice of an external
resistor (Op-amp). The output voltage of the amplifier is given by.
Vs A VA VB
2RC Rx R3
A E
2RC Rx R2 R1 R3
Asumption :
RC 0
If R1 R2 R3 R
Rx R R
R R 1
Vs AE
2R R 2
R
AE
4R 2 R
Mechatronics Engineering - Sensors and Actuators 24 © Ha Le Nhu Ngoc Thanh, Ph.D.
 Resistive Temperature Detector Sensor
• Temperature transmitter with 2 wires and 3 wires of signal conditioning unit

Widely used in industry

Mechatronics Engineering - Sensors and Actuators 25 © Ha Le Nhu Ngoc Thanh, Ph.D.
 Resistive Temperature Detector Sensor
• HART communication

Mechatronics Engineering - Sensors and Actuators 26 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Resistive Temperature Detector Sensor
Application and installation RTD
Video (https://www.youtube.com/watch?v=4mQ3o1t4Ss)

Mechatronics Engineering - Sensors and Actuators 27 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Pressure Sensor
A pressure sensor is a transducer or instrument that converts an input mechanical
pressure in gases or liquids into an electrical output signal.
Pressure unit: Pascal (Pa), Bar (bar), N/mm2 or psi (pounds per square inch).

Mechatronics Engineering - Sensors and Actuators 28 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Pressure Sensor
Operational principle and characteristics

Mechatronics Engineering - Sensors and Actuators 29 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Pressure Sensor
Wheatstone Bridge Amplifier Circuit

Mechatronics Engineering - Sensors and Actuators 30 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Pressure Sensor
Example of a datasheet of pressure sensor

Mechatronics Engineering - Sensors and Actuators 31 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Pressure Sensor
Example of a datasheet of pressure sensor

Mechatronics Engineering - Sensors and Actuators 32 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Pressure Sensor
Applications

Mechatronics Engineering - Sensors and Actuators 33 © Ha Le Nhu Ngoc Thanh, Ph.D.

 Pressure Sensor
Video: https://www.youtube.com/watch?v=1VdSxSRhadM&t=423s

Mechatronics Engineering - Sensors and Actuators 34 © Ha Le Nhu Ngoc Thanh, Ph.D.

 HCMUTE Univ. - FME
https://fme.hcmute.edu.vn/

Lecture notes info

Sensors and Actuators
Fall Semester, 2021
------------------------------------------------

© Ha Le Nhu Ngoc Thanh, Ph.D.

Email: thanh.hlnn@hcmute.edu.vn
Sites: https://sites.google.com/view/halenhungocthanh/courses?authuser=0

Mechatronics Engineering - Sensors and Actuators 35 © Ha Le Nhu Ngoc Thanh, Ph.D.