Ky Thuat Dieu Khien Tu Dong Chuong 5 - English

Đại Học Quốc Gia Thành Phố Hồ Chí Minh
Đại Học Bách Khoa

Khoa Cơ Khí
Bộ Môn Cơ Điện Tử
Môn Học:
Kỹ Thuật Điều Khiển Tự Động
Cơ Cấu Cảm Biến
TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

Introduction
• Devices that provide information to the controller about what is actually happening are
called sensors (sensor / transducer).
• Most sensors perform physical quantities (temperature, pressure, etc.) as electrical

signals.

Introduction
 

Location – Displacement sensor
• Potentiometer

Solution:

Resolution
If the potentiometer is in the form of a winding with N loops, the potentiometer resolution
is the voltage step between two adjacent loops and is defined as:

Error: The loading error occurs when the
slider of the potentiometer is connected to
the load with a negligible impedance
compared to the value of the impedance.
với

Solution:

• LVDT – Linear Variable Differential Transformer
The LVDT is a high-resolution position sensor based on electromagnetic induction. The
output of the LVDT is in the form of alternating voltage - its amplitude is linearly proportional
to the amount of displacement. Main components: primary coil, 2 secondary coils, and
magnetic core.

The output voltage is AC:
• Its amplitude depends on the amount of movement (compared to the midpoint position)
• Its phase angle depends on the direction of movement - moving to the right produces a
phase angle of 0o, moving to the left creating a phase angle of 180o.


• Optical encoder
Optical encoder is an angular position sensor with digital output. Main components: light
source, disk plate, and optical cell.
Dạng tín hiệu của tế bào quang
Encoders are classified into two categories: incremental encoder and absolute encoder.

Absolute encoder
Absolute encoder output signal is a binary number - determine the position of the bar disk
in a unique way.

Solution:
The problem with natural binary encoding is that many bits change state simultaneously.

For Gray code, only one bit changes state when passing from one value to the next.
Decimal Binary code Gray code

0 000 000
1 001 001
2 010 011
3 011 010
4 100 110
5 101 111
6 110 101
7 111 100
Gray striped bar coding

Incremental encoder
Incremental encoder has only one groove,

with equally distributed lines.
Example Incremental encoder with 360-track groove. Starting at home, the optical cell
counts 100 lines clockwise (CW), 30 lines counterclockwise (CCW), then 45 lines
clockwise (CW). ). Determine the current position of the disk.

Solution:
Incremental encoder requires 3 sets (light source - optical cell) to determine the absolute
position of the disk.


Example: A sensor system (pictured above) uses a 250-strip disk. The current value of
the counter is 00100110. Determine the angle value of the axis to be measured.
Solution:

Decoding circuit

Resolution of encoder can be increased 2 times, 4 times
Communicate the encoder with the computer:

• Proximity sensor
Access sensors are ON / OFF sensors that recognize the presence of an object.
• Contact sensor
• Contactless sensor
▪ Sensor inductance sensor: feel metal objects
▪ Capacitance sensor: sensing metal / nonmetal objects
▪ Photoelectric Sensors: Feel the metal / nonmetal objects
• Sensor approach Hall effect

Limit switch:
– Mechanical equipment there is abrasion short working life.
– Need to create a force to act on the trip switch

Inductive proximity sensor

This type of sensor is used to sense metal objects. Main components: winding wrapped
around an iron core, oscillating circuit, current sensing circuit, and semiconductor switch.
Principle of operation: The oscillating circuit creates a magnetic field in the front of the
sensor. When a metal object enters the magnetic field, the magnetic field amplitude
decreases due to the energy loss (transfer to the object). The sensor circuit recognizes
the change and activates the switch.
Applications

Sensor range is the distance from the sensor surface in which the standard object is
detected. Sensor range and sensitivity (switching speed) depends on the size and
material of the sensor. The experimental specimen (sensing object) is a 1 mm (mm)
square steel plate, with the edges of the diameter of the sensor surface, typical
characteristics of this type of sensor as follows:
Sensing range (mm) Diameter (mm) Length (mm) Switching speed (Hz)
1 8 40 5000
2 12 40 1000
5 18 40 400
10 30 50 200
20 47 60 40
For nonferrous metals (eg aluminum, brass, copper, and stainless steel), the sensor
range is shorter.

Capacitive proximity sensor

This type of proximity sensor senses objects based on the charge capacity of the object.
Thus, this type can sense the presence of all types of objects (metal as well as nonmetal,
wood, paper, water, plastic etc.). Main components: oscillator circuit, current sensor
circuit, 1 internal pole, and semiconductor switch.

Applications

Principle of operation: When an object appears in front of the sensor, the object acts as
an external pole of the capacitor. This external pole combines with an internal pole to
form a capacitor, and when the charged charge on the poles of the capacitor occurs. This
creates a change in electric current through the internal pole. The sensor circuit
recognizes the change and activates the switch.
Materials with a dielectric constant of 1.2 or above can be identified by this type of
sensor. Sensing range: <70 (mm).
• With the larger the dielectric constant, the easier it is to recognize the object.
• With the larger the dielectric constant, the farther away the recognition distance is.
• Materials with a large dielectric constant are also identifiable when stored in a
container made of a material with a lower dielectric constant.
Material Wood (dry) Gasoline Sugar Water
Dielectric constant 26 2.2 3 80

Photoelectric sensor
This type of sensor uses a light beam to detect the presence of an object that interferes
with or reflects the beam. Main components: light source (generator) and photoreceptor
(collector).

Most of these sensors use LED (Light Emitting Diode) as a light source. LEDs can be
designed to emit different light.

Four types of photoelectric cells are commonly used such as: photo-resistor, photo-diode,
photo-transistor and photovoltaic cell (photocell).

Opposed sensing mode
Transmitter and receiver can be designed in
two separate blocks or in the same block
depending on the type of sensor.
Retro-reflective sensing mode
Proximity sensing mode

Sensor approach Hall effect (1879, E.H. Hall)



Speed measurement
• DC tachometer
The DC tachometer is essentially a DC generator - it
generates a DC voltage signal proportional to the
angular velocity of the rotary axis.
- Stator part: permanent magnet
- Rotor: The coils are mounted on a

metal core.
-The armature turns freely in the

magnetic field (generated by the stator
magnets).
- The ends of the wire connect to the two

ends of the commutator. The voltage
between the two leads is passed through
two brushes.
Speed measurement
• Optical tachometer
For this method, the main task is to determine the number of pulses received (from the
photons) in a unit of time as the axis rotates.

Speed measurement
Same for touch type method.

Speed measurement
Determines the time interval when a pulse is received from the sensor mechanism

Acceleration measurement
- The accelerometer frame is attached to the object under test.

- Inside the accelerometer, block M is supported by two leaf springs and is dampened by
the mass of lubricant around it.
Acceleration measurement
A second-order system is characterized by two parameters:
• Resonant frequency
• Damping ratio
In the case of a frame going up with constant acceleration, block M will deflect the two
leaf springs to the bottom (under the influence of the inertia force). The leaf springs
produce an opposite force with respect to the force. When these two forces are in
equilibrium, the M-block will lie in the unchanged position.
Note: The resonant frequency of the accelerometer must be significantly greater than the
frequency of the accelerometer signal to be measured.

Force measurement
-Force is a physical quantity created to change the velocity or shape of an object.
- The two forces (the same effect on the object) are of equal magnitude and opposites
are two equilibrium forces.
- Two methods to create the force balance:
Null balance method Displacement method

Force measurement
• Strain gauge force sensor
- With this type of sensor, the force needed to measure
the impact on the elastic element. The deformation of
this element is converted into an electrical signal
proportional to the force being measured.
- To measure the strain, a strain gauge is often used.

There are usually two types:
+ Bonding Type: Measurement of deformation at a

specific location on the deformation surface of the elastic
element
+ Non-sticking type: Small cell measure
- Bonded-wire strain gage can measure forces from a few kg to several tons.

Force measurement
Sensors of the plate resistance :
Where R: resistor of the plate resistor() L: the length of the plate resistance (m)
R: the resistor change () L: length variation(m)

Force measurement
The variable resistance of the plate is usually very small. So the Wheatstone bridge is
often used to amplify the signal (output voltage) at the output. With the Wheatstone
bridge circuit, the influence of temperature on the change in resistance value of the
positive plate can also be eliminated by adding a compensation plate near the
compensation plate. in perpendicular direction to positive plate.

Force measurement
Analyze bridge circuit in this picture, we have:
Assuming that four resistors of the bridge circuit have a R value when the bridge is
balanced. When distortion occurs, RG = R + R.

Force measurement
Example : A resistance plate is used to measure
traction on a steel cylinder having a cross
sectional area of A = 13 cm2. The resistive plate
has a nominal value of 120  and a deformation
factor G = 2. The supply circuit is powered by Vs
= 10 V. When there is no traction, the circuit
balances, so Vout = 0 V. When there is traction,
the bridge has the value Vout = 0.0005 V.
Determine the force acting on this cylinder. Said
steel has E = 2.07  107 (N/cm2)
Solution:

Force measurement
• Pneumatic force transmitter
- This type of sensor works on a balanced basis. The force to be measured is balanced
with a jet created by the pressure acting on the surface of the elastic membrane. The
pressure is proportional to the force to be measured and therefore the measured
pressure value reflects the force value to be measured.

Force measurement
Where f: force value to be measured

p: pressure measured in the chamber
A: Effective area of elastic membrane

Temperature measurement
The temperature sensor has a signal at the output that is proportional to the temperature
signal to be measured. Most sensors have positive thermal coefficients - the output signal
of the sensor increases as the temperature increases.

Bimetallic temperature sensor
Two different metal pieces of bimetals form a sheet, roll, or spiral. The thermal
coefficients of two different metal pieces, so that when under the influence of
temperature, their shape changes from the original. This type of sensor is commonly
used in the ON / OFF control system.

RTD – resistance temperature detector
Resistance thermistor works by changing the resistance of the metal when the
temperature changes. The resistance of most metals increases as the temperature rises

RTD has the advantage of being accurate and stable but its disadvantages are low
sensitivity, relatively slow response to temperature changes, and expensive.
Solution:
• Resistance value changed : 110 – 100 = 10 
• RTD platinum 100   heat factor is : 0.39 /0C
Variable temperature values : 10 / 0.39 = 25.6 0C
RTD platinum has value 100  at 0 0C. Hence the current temperature value : 25.6 0C

Thermocouple
The thermocouple consists of two different metal wires connected at both ends. One end
is considered to be a cold spot (reference point) and one end is considered to be a hot
spot (point of measurement). When two ends have different temperatures, a voltage
(called electromotive force) is formed in the circuit formed by the two metal wires - the
Seebeck effect voltage. This effect voltage is proportional to the temperature difference
between the two connectors.
Heat factor is: 35 V/0F


IC sensor heat
This type of sensor is a high-precision semiconductor device with an output that is
linearly proportional to the temperature value. For example, the LM35 can measure the
temperature in the range (-55 0C  +155 0C) with signal : vout = 0.01T (V)
Example: Design of thermal sensor circuit using LM35 with the following characteristics:
• Measuring range: (5  100 0C)
• Supply voltage : LM35: 5 V
• Output voltage: vout = 0.1 V/ 0C

Flow measurement
Flowmeter
This type of sensor operates based on the principle that a flow in the flow creates a
pressure drop proportional to the square of the flow velocity.
Where : density (kg/m3)

A: flow profile (m2)
: flow factor (depending on the type of throttle)
g: gravity (m/ s2)

Flow measurement
A venturi flow sensor
A pitot tube

Flow measurement
Turbine meter
This type of sensor generates a digital signal, which is proportional to the flow rate

Flow measurement
Magnetic flow meter
This type of sensor works on the principle that a voltage is induced in a moving conductor
in the magnetic field
Due to the conductivity of the fluid, the

movement of the flow is similar to the movement
of the conductor. Under the influence of the
magnetic field, an induced voltage occurs
between two electrodes placed on either side of
the tube wall.

Pressure measurement
The pressure is determined by the force caused by the liquid or gas on a surface unit.
Resistive pressure sensor

This type of sensor operates based on the characteristics of the resistive plate - its
resistance varies with the effect of the tension. Resistors in this type of sensor are non-
adhesive.

Pressure measurement
Pressure sensor elastic
In these types of sensors, the elastic element (primary) is deformed under the influence
of pressure. Then, the secondary element transforms the amount of distortion into
electricity.
Bourdon tube Bellows Diaphragm

Level measurement
Measuring the water level or weight of the material in the tank is a common problem in
the industrial process.
• Direct measurement method: Liquid surface monitoring - Use float to connect to

display units. This method is simple and reliable, but it does not make the control
signal easy.
• Indirect Measurement: Measure another variable that is related to the water level -
measure static pressure at some point in the volume area. This method is based on
static pressure proportional to the specific mass and height of the liquid mass above
the measurement point.
Level sensors are also classified into two categories.
• Discrete: just feel the water level at a certain value
• Continuous: produces an analog signal proportional to the liquid level

Level measurement
Discrete level sensor

Level measurement
Continuous level sensor

Level measurement
Continuous level sensor

Level measurement
Example: A level measuring system is used according to the principle shown below.
Determine the range of force applied to the arm. Said:

Level measurement
• mass of bouy, M = 2 kg
• Area of cross section of buoy, A = 20 cm2
• Length of bouy, L = 2.5 m
•Fluid use: kerosene ( = 800 kg/m3)
Solution :
Force on the smallest arm when h = L
Force on the largest arm when h = 0

The End
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Đại Học Quốc Gia Thành Phố Hồ Chí Minh

Đại Học Bách Khoa

Cơ Cấu Cảm Biến

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

• Most sensors perform physical quantities (temperature, pressure, etc.) as electrical

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

The output voltage is AC:

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

Dạng tín hiệu của tế bào quang

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

Decimal Binary code Gray code

Gray striped bar coding

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

Incremental encoder has only one groove,

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

Communicate the encoder with the computer:

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

– Mechanical equipment there is abrasion short working life.

– Need to create a force to act on the trip switch

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

Inductive proximity sensor

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

Capacitive proximity sensor

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

Material Wood (dry) Gasoline Sugar Water

Dielectric constant 26 2.2 3 80

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

Retro-reflective sensing mode

Proximity sensing mode

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

- Stator part: permanent magnet

- Rotor: The coils are mounted on a

-The armature turns freely in the

- The ends of the wire connect to the two

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

Same for touch type method.

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

TS. Ngô Hà Quang Thịnh, nhqthinh@hcmut.edu.vn

- The accelerometer frame is attached to the object under test.