Professional Documents
Culture Documents
Sensor Technology
(Encoder, Potentiometer, Thermal Sensor)
Sumber: Dr. Rusminto Tjatur Widodo
What is an Encoder?
Any transducer that changes a signal into a coded (digital signal)
Optical Encoders
Use light & photosensors to produce digital code (ie. Lab 3 encoder).
Most popular type of encoder.
Can be linear or rotary.
Mechanical
absolute
encoders-
Absolute rotary
encoder ROD 425
Types of Optical Encoders
2 types of Optical Encoders:
1. Incremental (Lab 3 encoder)
Measure displacement relative to a reference point.
2. Absolute
Measure absolute position.
Advantages – A missed reading does not affect the next reading.
Only needs power on when taking a reading.
Disadvantages – More expensive/complex. Cost/complexity
proportional to resolution/accuracy.
Fundamental Components
Light source(s)
LEDs or IR LEDs provide light source.
Light is collimated using a lens to make the beams parallel.
Photosensor(s)
Either Photodiode or Phototransistor.
Opaque disk (Code Disk)
One or more “tracks” with slits to allow light to pass
through.
Optical Encoder Components
Other Components
Stationary “masking” disk
Identical track(s) to Code Disk
Eliminates error due to the diameter of the light beam
being greater than the code disk window length.
Signal amplifiers and pulse shape circuitry.
Quadrature
270-315 110 6
315-360 111 7
Problem with Binary Code
Angle Binary Decimal
135-180 010 3
Bit 0
180-225 110 4
270-315 101 6
Bit 2
315-360 100 7
Converting from Gray Code to Binary Code
1. Copy MSB.
2. If MSB is 1, write 1s until next 1 is met.
If MSB is 0, write 0s until next 1 is met.
3. When 1 is met, logically switch what you are writing
(1=>0 or 0=>1).
4. Continue writing the same logical until next 1 is met.
5. Loop back to step 3.
Example: Convert 0010 to Binary Code
Copy MSB: 0_ _ _
Write 0s until next 1 is met: 00_ _
Switch to writing 1s: 001_
Write 1s: 0011
Example: Convert 1110 to Binary Code
Copy MSB: 1_ _ _
Write 1s until next 1 is met: 1_ _ _
Switch to writing 0s until next 1 is met: 10_ _
Switch to writing 1s until next 1 is met: 1011
Encoder Reliability and Errors
Resolution 360
Incremental N where N=# of windows.
360
Resolution can be increased by reading both rising and falling edges ( ) and
byusing
4N
quadrature ( ). 360
2N
360
Absolute n where n=# of tracks.
2
360
90
4
Encoder Reliability and Errors
Encoder errors
1. Quantization Error – Dependent on digital word
size.
2. Assembly Error – Dependent on eccentricity of
rotation (is track center of rotation=center of
rotation of disk)
3. Manufacturing tolerances – Code printing
accuracy, sensor position, and irregularities in
signal generation.
Encoder Reliability and Errors
Comment on pulse irregularity
It is a result of noise in signal generation,
variations in light intensity, and imperfect
edges.
It can be mitigated using a Schmidt Trigger,
but this can lead to hysteresis.
Using 2 adjacent sensor will negate this
problem.
Encoder Reliability and Errors
More encoder errors
4. Structural Limitations – Disk Deformation,
physical loads on shaft.
5. Coupling Error – Gear backlash, belt
slippage, etc…
6. Ambient Effects – Vibration, temperature,
light noise, humidity, etc…
Applications
Any linear/rotary position/velocity sensing
DC Motor control – robotics/automation
Mechanical computer mouse
Digital readouts for measurement gauges
Tachometers – planes, trains and automobiles
Milestone: Inductive Micro Encoder
Example:
Incremental Encoder
ROTAPULS Incremental encoders
Incremental Encoders
ROTAPULS Incremental encoders
Operation
Incremental Measuring Systems
ROTAPULS Incremental encoders
Working principle
• It is based on a grated design disc, in other words a transparent disc of glass
where a radial grating of lines and gaps forming an incremental track is
printed.
• The disc is penetrated by a light beam generated by a light source, partially
obscurated by a scanning reticle with four additional grated fields.
• These four fields are also penetrated by the light beam. During the disc
movement they produce four phase-shifted beams. Each beam is phase
shifted of half –disc line from the other.
ROTAPULS Incremental encoders
Working principle
• The modulation index of each light beam is sensed by
photo-elements placed on the opposite side of the disc.
• The photo-elements transform the entering light signals in
four sinusoidal current signals.
• The analogue signals are digitized and multiplied by one
interpolation circuit
• Furtherly they are sent to amplification circuits to be
conveniently powered in output
POWER SUPPLY +Vdc
+3,3V
PHOTO-ELECTRONIC DIGITIZING
POWER
READING
OUT
ROTAPULS Incremental encoders
Output signals
• AB channels = Bidirectional
(speed and rotation sense detection)
• AB0 = Bidirectional + Zero
• /A, /B, /0 = Complementary signals
(inverted)
ROTAPULS Incremental encoders
Output signals
• “Complementary” = additional
inverted signal for each channel (A
B 0 + /A /B /0)
• safe transmission even with long
cables and noisy environment
ROTAPULS Incremental encoders
Manipulation of signals
Interpolation
• SIN/COS output signals can be
interpolated
• Interpolation “divides” a sine/cosine
signal into many pulses
• ex. 1024 sin/cos x10 = 10240 fronts
ROTAPULS Incremental encoders
Incremental Encoder
1) Pulse Per Revolution
ROTAPULS Incremental encoders
Scaling for Counters
ROTAPULS Incremental encoders
ROTAPULS Incremental encoders
Scaling
• Example
500PPR 500 X SF = 30
30
SF = = 0.06
Circumference = 30 cm
500
With Scale SF = 0.06
ROTAPULS Incremental encoders
2) Supply and Output Circuit
NPN (10-30 Vdc)
PNP (10-30 Vdc)
Push-Pull (10-30 Vdc) > NPN/PNP
Line Driver (5 Vdc)
Push Pull / Line Driver(5-30 Vdc) >NPN/PNP
3) Output Signal
A , /A
B , /B
Z , /Z
ROTAPULS Incremental encoders
Mono/Unidirectional > 1 Channel Output > A
Flexible Coupling
ROTAPULS Incremental encoders
5) Dimension
Body Size ( Europe= mm, U.S. = Inch )
ROTAPULS Incremental encoders
6) Connection
Connector (7-pin,10-pin, 12-pin etc. )
Cable (1,3,5,10 meter etc.)
ROTAPULS Incremental encoders
Types of assembly
I40 - I41
Small encoder for industrial applications
I40 - I41
Small encoder for industrial applications
I58 - I58S
International standard encoder
• housing Ø 58 mm
• shaft Ø 6, 8, 9.52, 10, 12 mm
• up to 10000 PPR
• NPN, PP, LD, Universal circuit
• cable and connector output
ROTAPULS Incremental encoders
I58 - I58S
International standard encoder
• preferential encoder
• international standard size
• motors and lift motors
ROTAPULS Incremental encoders
IT65 - I65
encoder for heavy duty applications
IT65 - I65
encoder for heavy duty applications
• standard US size
• preferential encoder
• woodworking machinery
• stone & marble machines
ROTAPULS Incremental encoders
• housing Ø 80x36 mm
• shaft Ø 18 to 44 mm
• up to 4096 PPR
• max. speed 3000 rpm
• max. operating temperature range:
-40°C÷+100°C (-
40°F÷+212°F)
• IP65 max.
ROTAPULS Incremental encoders
• housing Ø 58 mm
• blind hollow shaft Ø 10 or 12 mm
• up to 10000 PPR
• max. output frequency: 300 kHz
ROTAPULS Incremental encoders
• internal coupling
• shaft is fixed from backside
• easy mounting
64 SENSOR POSISI
Sensor posisi ini digunakan untuk mengubah besaran posisi
menjadi besaran tertentu seperti nilai hambatan, pulsa, dll.
Contoh:
•Potensiometer/multitone, dengan mengubah posisi
potensiometer nilai resistansi akan berubah. Apabila
dikenakan pembagi tegangan padanya maka akan
mengubah nilai tegangan sesuai dengan perubahan posisi
potensiometer.
•Rotary Encoder, menghasilkan pulsa-pulsa sesuai dengan
perubahan posisi. Jumlah pulsa yang dihasilkan dapat
dihitung kemudian dikonversikan menjadi panjang lintasan
yang ditempuh.
65 MODEL POTENSIOMETER
66 POTENSIOMETER
Sensor potensiometrik adalah sensor yang mengandung
elemen tahanan yang dihubungkan oleh sebuah kontak
geser.
Potensiometer
67
Contoh penggunaan
- Sensor level cairan dalam
suatu tangki
- Sensor posisi
- dll
Sumber
daya
luar
Keluaran ADC (Analog to Digital
Converter)
Potensiometer
SENSOR POSISI
68
Vout = -(RD)/1kohm)(-10V)
Vout = 0.01RD
Dengan demikian jika RD berubah dari 0 - 1 kohm, output akan berubah secara
linear dari 0 - 10 volts
70 SENSOR POSISI
VS
VO
Dasar RTD
Harga resistansi yang mengikuti kenaikan temperatur
Resistansi Platinum sebesar 100 Ohm pada 0°C
Sangat akurat
Sangat stabil
Range temperatur -200C sampai 850C
Sensitifitas rendah
Daya rendah100 W pada 0°C
Resistance Temperature Detector
Bahan
Platinum, Emas, Tembaga,Nikel
Koefisien Temperatur
Positif
Konfigurasi
2-wire, 3-wire dan 4-wire
Resistansi
10 Ohm sampai 1 kOhm
Standard
Eropa dan Amerika
Resistance Temperature Detector
Dasar Pemilihan
RTD mempunyai respek terhadap suhu relatif linear. Koefisien temperatur dari sebuah RTD disebut alpha (),
mempunyai persamaan :
R100 R0
Alpha ( )
100 R0
dimana R0 = Resistansi pada 0C
R100 = Resistansi pada 100C
Dari persamaan alpha (), dengan mudah kita dapatkan resistansi RT dari RTD, pada suhu T dengan
persamaan:
RT = R0 ( 1 – T)
dimana R0 = Resistansi pada 0C
Resistance Temperature Detectors
Resistance Temperature Detector
Konfigurasi Pengukuran
Thermocouple SENSOR SUHU
Thermocouple thermometer
bisa berupa kontruksi wire
(a) atau timah (b).
Adapun bagian-bagiannya
adalah:
1 dan 2= konduktor terbuat dari metal yang
berbeda
3 = titik sensor
4 dan 5 = konduktor timah
6 = butt-bonded junction
7 = matriks
8 dan 9 = lead ribbon
Thermocouple
J1, merupakan J-Type Thermocouple
thermocouple
junction, penghasil
tegangan.
J2 dan J3 mempunyai
koefisien Seebeck
serta menghasilkan
tegangan
thermoelectric yang
sesuai dengan
temperatur dari api
lilin
Thermocouple
Karena junction J3 mempunyai tipe yang sama dengan J1 namun pada arah yang berlawanan maka
VJ3(TREF) = -VJ1(TREF ). Karena VJ1 adalah tegangan keluaran dari thermocouple yang akan diukur,
tegangan ini bisa kita ganti dengan VTC . Sehingga rumus diatas bisa tulis menjadi:
VMEAS = VTC (TTC ) - VTC (TREF )
Thermocouple
Thermocouple Conductor Temperature Voltage Range Seebeck
Type Range °C) (mV) Coefficient
Positive Negative
(°V/°C)
Kontruksi Thermistor
1 = semiconductor powder compiund
2 dan 3 = leads contacting compound
4 dan 5 = leads for outside connection
6= glass hermetic seal.
Integrated Circuit Temperature Sensor
SENSOR SUHU
Integrated Circuit Temperature Sensor
Contoh permasalahan