Position Sensors : Encoders

Average costs, good accuracy

Digital output

Produces a signal for each small portion of a movement.

The disk or strip is divided into small sections.

Opaque versus transparent, reflective versus nonreflective.

Linear or rotary

A light source, such as an LED on one side, light-sensitive
sensor, such as a phototransistor on the other.

Phototransistor

Light source
Pictures of Encoders
Position Sensors : Incremental Encoders

The sections are all equal and repeating.

Each represents an equal angle of rotation.

Only the change in position can be measured, not the absolute
position.

Its initial position must be set to obtain the actual position by
counting the increments.

Direction cannot be measured unless two sets of slots are used
(1/2 step out of phase)

Can be high resolution:

Typical encoders have 512 or 1024 arcs,

Resolution: 360/512=0.7° or 360/1024=0.35°.

Simple to use; few output lines (as opposed to absolute
encoders).
Direction of rotation

Only leading and/or trailing edges are measured (the change of the
signal is measured).
→ The sequence of
10 11 01 00 10 11 readings is different
← in opposite directions
1 1 0 0 1 1
High
Low Channel A

0 1 1 0 0 1 Channel B

Output of leading edges for one channel only

Output of leading and trailing edges for one channel only

Output of leading and trailing edges for two channels

Position Sensors : Absolute Encoders

Absolute position can be measured.

Each portion of the disk has a unique combination of clear/dark
sections

Higher resolutions require many input lines:

Possible combinations: 2n, n: number of lines

The clear/dark section on each line is sensed by one sensor,

So, the number of bits (photo detectors) required to read the sensor
equals the number of the lines.

For one byte data (8 bits (lines)), 28=256, Resolution=360/256=1.4°.

Binary Code Gray Code

Binary or Gray Code

Binary: The segments are coded as
a binary number.

Gray code involves only one change
at any time.

Reading multiple sign changes at
the same exact time is not always
possible. This may result errors in
readings.
Binary Code Gray Code

The gray code has better noise
immunity.
0×22 + 1×21 + 1 = 3
Velocity Sensors

Encoders:

Count number of signals in a given length of time (∆t ) to calculate
velocity.

If motion is slow, count is low and velocity is inaccurate.

If the time is increased, velocity is not updated fast enough.

∆t may be varied depending on the angular velocity

Tachometers:

A DC generator that produces a voltage proportional to the velocity
of the rotor.

Analog output.
Velocity Sensors: Cont.

Differentiation of Position Signal:

Velocity signal can be noisy due to the discontinuities of the position signal.

Signal must be as continuous as possible

A capacitor can be used parallel to the resistor, to reduce the effects of
discontinuities.

Use potentiometers with conductive polymer film to reduce input noise

R Differentiator Circuit:
dVin
Position signal
C
Vout = − RC
-
Velocity signal dt
+

C Integrator Circuit:
1
RC ∫
R Vout = − Vin (t )dt
Velocity signal - Position signal
+