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Programming
Internal Net
Sensors
Control Unit
Actuators
Mechanical Structure
Mechanical:
Detectors
Internal
sensors
Position
sensors
Actuators
Mechanical structure
Electromagnetic:
Detection from the variations
of the oscillation conditions of
an L C sensor circuit
Detectors
Internal
sensors
Position
sensors
Actuators
Mechanical structure
Optical:
From the interruption of a light
beam, or reflection.
Detectors
Internal
sensors
Position
sensors
Actuators
Mechanical structure
Types of sensors
Angular
Linear
Types of sensors
Resistive (Potentiometers)
Analog
Angular
Digital
Vcc
R1
V = Vcc
R R2 R
R1 V = Vcc
a R a
a a0 R
= Vcc
a0
0V
Types of sensors
Resistive (Potenciometers)
Analog
Angular Inductive ( Resolver )
Digital
Ve = A sin(wt ) cos a
Ve = A sin(wt ) sin a
e
A
D/A
Low resolution conversions
S1 = V cos a
S1 A/D aX a
S2 = V sin a
S2 A/D a
High resolution conversions
mcontroler
Ve = V sin (wt)
aX
S1 = V sin(wt ) cos a
S2 = V sin(wt ) sin a
Possibility of obtaining the value of a by means of tracking
Types of sensors
Resistive (Potentiometers)
Analog
Angular Inductive ( Resolver )
Absolute
Digital
Incremental
Optical Encoder Absolute
Fotoelectric sensor
2 paths n paths
4 divisions 2n divisions
n optical barriers
Commercially
10 bits 1024 div. Resol. 0.35
12 bits 4096 div. Resol. 0.088
14 bits 16384 div. Resol. 0.022
Encoder diameters: de 50 a 175 mm
Resistive (Potentiometers)
Analog
Angular Inductive ( Resolver )
Absolute
Digital
Incremental
Commercially
10 bits 1024 div. Resol. 0.35
12 bits 4096 div. Resol. 0.088
14 bits 16384 div. Resol. 0.022
Signal obtained after
1 2 3 4 5 6 7 8 9 10 11 12
displacing the sensor
over a coded disc
Gray code
Commercially
10 bits 1024 div. Resol. 0.35
12 bits 4096 div. Resol. 0.088
14 bits 16384 div. Resol. 0.022
Gray code
Possibility of detecting the counting sense using two sensors
Incremental Optical Encoder
A
B
R
1 mark = 4 divisions
0 1
200 x 4 = 800
P Q
Computing resolution
q = 210 60 =
j = 60
360 l = 2 p 1200 60
=
360
q = 170,6 l = 1256 mm.
Using a a
10 bits 1256 mm.
encoder r= = 7,3 mm.
directly
170,6
js
coupled to
the motor
axis
Measuring strategies 1:1
0j Arm
0 0 j 360
Encoder
0 360 j
n=
j
0 360
Encoder
0 Arm j
360
n=
j m
m m=2 m=1
Encoder
0 360 0 360
q=8 210 =
j = 60
q = 8192 l = 1256 mm.
1256 mm.
Using a 10
bits x6 x8 r= = 0,15 mm.
8192
encoder
coupled with a
1:64
transmission
ratio
0 1 2 3 199 200
Resistive (Potentiometers)
Analog
Angular Inductive ( Resolver )
Incremental
Digital
Absolute
Resistive
Analog Inductive ( Inductosyn )
Linear LVDT
Incremental
Digital
Absolute
Resistive
Analog Inductive ( Inductosyn R )
Linear LVDT
Resistive (Potentiometers)
Analog
Angular Inductive ( Resolver )
Incremental
Digital
Absolute
Resistive
Analog Inductive ( Inductosyn )
Linear LVDT
V2
Linear sensing
displacements V1 V2
V1 - V2
Types of sensors
Resistive (Potentiometers)
Analog
Angular Inductive ( Resolver )
Incremental
Digital
Absolute
Resistive
Analog Inductive ( Inductosyn )
Linear LVDT
Head reader