Mechatronics

(MEMEC20)

Dr. Swati Gangwar

Assistant Professor
Mechanical Engineering Department
NSUT New Delhi

UNIT – 2
Sensors and Signal Conditioning
 Course No Title of the Course Course Structure Pre-Requisite
MEMEC20 Mechatronics L-T-P: 3-0-2 Control Theory
COURSE OUTCOMES (COs)
After completion of this course, the students are expected to be able to demonstrate the following knowledge, skills and attitudes:
1.Understand the basics of mechatronic systems.
2.Classify the various sensors and transducers based on the needs of mechatronic systems.
3.Obtain the signal conditioning through Op-Amps and apply the digital logics to the digital signals.
4.Comprehend the microprocessor and microcontroller systems and demonstrate the programming.
5.Obtain the mathematical modelling and dynamic response of mechanical, electrical & thermal systems.
6.Utilize system transfer function and frequency response to design closed loop controls.
COURSE CONTENT

UNIT 1
Introduction to Mechatronics: Introduction to mechatronics systems, Evolution of Mechatronics, Need and classification of mechatronics system, Basic Elements and components, measurement
and control systems. Proportional, Integral and derivative (PI, PD and PID) controls.

UNIT 2
Sensors & Signal Conditioning: Performance terminologies. Displacement, position, velocity, force, pressure, flow, temperature and light sensors. Signal conditioning, Operational amplifier. Digital
signals, ADC, DAC. Digital logic, logic gates and its application.

UNIT 3
Actuators & Microprocessor: Actuation systems- Pneumatic, hydraulic, mechanical and electrical actuation systems. Types of Stepper and Servo motors – Construction – Working Principle –
Advantages and Disadvantages. Microprocessor: Buses. Architecture of 8085. Programming of developmental board (ARDUINO).

UNIT 4
Introduction to programmable logic controller: Basic structure, Programming units and Memory of Programmable logic controller, Input and Output Modules, Mnemonics for programming,
Latching and Internal relays, Timers, Counters and Shift Registers, Master relay and Jump Controls.

UNIT 5
System modelling & Case study: Mathematical modelling and dynamic response of mechanical, electrical, fluid and thermal systems. Transfer functions of first and second order systems. Root
locus and frequency response of dynamical systems. Case studies of Mechatronics systems - Pick and place Robot, Engine Management system, Automatic car park barrier.
Topics
• Sensors
• Performance terminologies
• Displacement, velocity, force, pressure, flow, temperature and light sensors
• Signal conditioning
• Operational amplifier
• Digital signals
• ADC, DAC
• Digital logic
• Logic gates and its application
 Introduction to Sensors
• The term sensor is used for an element which produces a signal relating to the
quantity being measured.
• Transducers are defined as elements that when subject to some physical
change experience a related change.
• A sensor/transducer is said to be analogue if it gives an output which is
analogue and so changes in a continuous way and typically has an output
whose size is proportional to the size of the variable being measured.
• The term digital is used if the systems give outputs which are digital in nature.
• The sensor and signal conditioning combined with a microprocessor all in the
same package. Such an arrangement is termed a smart sensor.
Introduction to Sensors
Introduction to Sensors
Performance terminology
• Range and span
The range of a transducer defines the limits between which the input can
vary.

• Accuracy:
Accuracy is the extent to which the value indicated by a measurement
system might be wrong.
Performance terminology
• Sensitivity
The sensitivity is the relationship indicating how much output there is per
unit input, i.e. output/input.

• Error:
Error is the difference between the result of the measurement and the true
value of the quantity being measured:
Error=measured value-true value
Performance terminology
• Hysteresis error
Transducers can give different outputs from the same value of quantity
being measured according to whether that value has been reached by a
continuously increasing change or a continuously decreasing change. This
effect is called hysteresis.
Performance terminology
• Non-linearity error
The term non-linearity error is used for the error that occurs as a result of
assuming a linear relationship between the input and output over the
working range, i.e. a graph of output plotted against input is assumed to
give a straight line.
Performance terminology
• Repeatability/reproducibility
The terms repeatability and reproducibility of a transducer are used to describe its
ability to give the same output for repeated applications of the same input value.

• Stability and Drift

The stability of a transducer is its ability to give the same output when used to
measure a constant input over a period of time.
The term drift is often used to describe the change in output that occurs over
time.
Performance terminology
• Dead band/time
The dead band or dead space of a transducer is the range of input values for
which there is no output.
The dead time is the length of time from the application of an input until
the output begins to respond and change.

• Resolution
• The resolution is the smallest change in the input value that will produce
an observable change in the output.
Performance terminology
Example: The following specification of a strain gauge pressure
transducer:
Displacement and position sensors
• Displacement sensors are concerned with the measurement of the amount by
which some object has been moved.
• Position sensors are concerned with the determination of the position of some
object in relation to some reference point.
• Displacement and position sensors can be grouped into two basic types:
• Contact sensors
• Non-contact sensor
Displacement and position sensors
Potentiometer sensor
•A potentiometer consists of a resistance element with a sliding contact which
can be moved over the length of the element.
•Such elements can be used for linear or rotary displacements, the displacement
being converted into a potential difference.
Displacement and position sensors
Potentiometer sensor
•It consist of a constant resistance per unit length with
sliding contact which can be moved over the length of the
element.
•With a constant source voltage Vs, the output voltage V0
is a fractional of the input voltage:

•So, for rotary potentiometer the output voltage is

proportional to the angle through which the slider has
rotated, hence an angular displacement can be converted
into a potential difference
Displacement and position sensors
Potentiometer sensor
•It is very important to consider the effect of the load resistance R L connected
across the output.
•The load voltage VL is only directly proportional to V0 if the load resistance is
infinite.
Displacement and position sensors
Strain-gauged element
•The electrical resistance strain gauge is a metal wire, metal foil strip or a strip of
semiconductor material which is wafer-like and can be stuck onto surfaces like a
postage stamp.
•When subject to strain, its resistance R changes, the fractional change in
resistance ∆R/R being proportional to the strain Ɛ,

•Since strain is the ratio (change in length/original length) then the resistance
change of a strain gauge is a measurement of the change in length of the element
to which the strain gauge is attached.
Displacement and position sensors
Capacitive Element
The capacitance C of a parallel plate capacitor is given by:

For the displacement changing the plate separation:

Hence the change in capacitance ∆C as a fraction of the initial capacitance is given

by:
Displacement and position sensors
Capacitive Element-Push Pull Displacement sensor
•This has three plates with the upper pair forming
one capacitor and the lower pair another capacitor.
•The displacement moves the central plate between
the two other plates.
•The result of, for example, the central plate moving
downwards is to increase the plate separation of the
upper capacitor and decrease the separation of the
lower capacitor. Thus,
Displacement and position sensors
Differential transformers
•The linear variable differential transformer, generally referred to by
the acronym LVDT, consists of three coils symmetrically spaced along
an insulated tube.
•The central coil is the primary coil and the other two are identical
secondary coils which are connected in series in such a way that their
outputs oppose each other.
•A magnetic core is moved through the central tube as a result of the
displacement being monitored.
••When there is an alternating voltage input to the primary coil,
alternating e.m.f.s are induced in the secondary coils.
•With the magnetic core central, the amount of magnetic material in
each of the secondary coils is the same.
•Thus, the e.m.f.s induced in each coil are the same.
•Since they are so connected that their outputs oppose each other,
the net result is zero output.
Displacement and position sensors
Differential transformers
•When the core is displaced from the central position there is a greater
amount of magnetic core in one coil than the other, e.g. more in
secondary coil 2 than coil 1.
•The result is that a greater e.m.f. is induced in one coil than the other.
There is then a net output from the two coils.
•Since a greater displacement means even more core in one coil than
the other, the output, the difference between the two e.m.f.s
increases the greater the displacement being monitored.
•The e.m.f. induced in a secondary coil by a changing current i in the
primary coil is given by:

•The e.m.f.s induced in the two secondary coils 1 and 2 can be

represented by:
Displacement and position sensors
Displacement and position sensors
Velocity sensors
Velocity sensors
Pyroelectric sensors
FORCE SENSOR
PIEZOELECTRIC SENSOR
ORIFICE PLATE
LIQUID LEVEL SENSOR
LIQUID LEVEL SENSOR
TEMPERATURE SENSOR
• Changes that are commonly used to monitor temperature are -
the expansion or contraction of solids, liquids or gases.

• The change in electrical resistance of conductors and

semiconductors and thermoelectric e.m.f.s.

• Types of temperature sensor - Bimetallic strip, Thermistors,

Thermodiodes and transistors, Thermocouples etc.
BIMETALLIC STRIP
THERMISTOR
Thermodiodes and Transistors
THERMOCOUPLE
COLD JUNCTION COMPENSATION
LIGHT SENSORS