sensors bryson cook james wyler hao phan 1. outline optical encoders: theory and applications...
TRANSCRIPT
![Page 1: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/1.jpg)
Sensors
Bryson CookJames Wyler
Hao Phan
1
![Page 2: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/2.jpg)
Outline• Optical Encoders: Theory and applications
–Types of encoders –Fundamental Components –Quadrature –Errors –Applications
• LVDT (Linear Variable Differential Transformer)–What is a LVDT –Types of LVDT –How do they work? –Applications
Bryson Cook
2
![Page 3: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/3.jpg)
What are Encoders• For our class, an encoder is a device that senses position or
orientation for use as a reference or active feedback to control position.– Most are either:
• Rotary: converts rotary position to an analog or electronic signal.
• Linear: converts linear position to an electronic signal.– Are also either absolute or incremental.
• Absolute gives the absolute position and knowledge of the previous position is not needed.
• Incremental encoders is more ambiguous and requires counting of cycles to determine absolute position.
Bryson Cook
3
![Page 4: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/4.jpg)
Optical Encoders
• Use light & photosensors to produce digital code • Most popular type of encoder.• Can be linear or rotary.
Bryson Cook
4
![Page 5: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/5.jpg)
Optical Encoders: Components
• Light source(s)– LEDs or IR LEDs provide light source.– Light is collimated using a lens to make the beams
parallel.• Photodetector(s)
– Either Photodiodes or Phototransistors.• Opaque disk (Code Disk)
– One or more “tracks” with slits to allow light to pass through.
Bryson Cook
5
![Page 6: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/6.jpg)
Optical Encoders: TheoryLED Code
DiskPhoto-sensor
Bryson Cook
6
![Page 7: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/7.jpg)
Rotary Optical Encoder Types• Incremental Encoders: Mechanical motion computed by
measuring consecutive “on” states. • Absolute Encoders: Digital data produced by code disk, which
carries position information.
Incremental Encoder code Disk
Absolute Encoder code Disk
Bryson Cook
7
![Page 8: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/8.jpg)
Binary and Gray Encoding
• In some devices, Binary Encoding is used to keep track of the various positions. The areas of the disk are named counting in binary.– This can cause problems since multiple bits can
change from one successive area to the next, such as in 011 to 100 all three bits change.
• Gray Encoding is a binary system where the adjacent areas only differ in one bit.
Bryson Cook
8
![Page 9: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/9.jpg)
Standard Binary EncodingAngle Binary Decimal
0-45 000 0
45-90 001 1
90-135 010 2
135-180 011 3
180-225 100 4
225-270 101 5
270-315 110 6
315-360 111 7
Bryson Cook
*Note: Extremely simplified encoder 9
![Page 10: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/10.jpg)
Gray EncodingAngle Binary Decimal
0-45 000 0
45-90 001 1
90-135 011 2
135-180 010 3
180-225 110 4
225-270 111 5
270-315 101 6
315-360 100 7
Notice only 1 bit has to be changed for all transitions.
Bryson Cook
10
![Page 11: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/11.jpg)
Quadrature
• Quadrature describes two signals 90° out of phase• Used to determine direction of measurement• Only two directions possible, A leads B or B leads A
11
James Wyler
![Page 12: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/12.jpg)
Quadrature
• Standard Encoder Track– Gives velocity and
position but not direction
• Quadrature Encoder Track– Gives velocity, position
AND direction
12
James Wyler
![Page 13: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/13.jpg)
Quadrature – How It Works
• Grey Encoding• Identical tracks
– Phase offset of 90º• Two sensors• Current state vs. next
state
13
James Wyler
![Page 14: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/14.jpg)
Quadrature – Rotary Encoders
• Examples of Quadrature Rotary Encoders
2 Bit Wheel 64 Bit Wheel
14
James Wyler
![Page 15: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/15.jpg)
Optical Encoder Errors
1. Quantization Error – Dependent on resolution of sensor
2. Assembly Error – Disk not positioned correctly with respect to sensor
3. Manufacturing Error – Tolerances of sensor positioning and code printing lead to inaccurate signals
15
James Wyler
![Page 16: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/16.jpg)
Optical Encoder Errors – Cont.
4. Structural Limitations – Loading on shaft or disk deformation
5. Coupling Error – Gear backlash, belt slippage, etc…
6. Ambient Effects – Vibration, temperature, light noise, humidity, etc…
16
James Wyler
![Page 17: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/17.jpg)
Optical Encoder Applications
• Coordinate Measuring Machine (CMM)
• Digital Calipers• CNC Machining• Electric Motors• Robotics
17
James Wyler
![Page 18: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/18.jpg)
LVDT
• What is a LVDT • Types of LVDT • How do they work? • Applications
18
James Wyler
![Page 19: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/19.jpg)
What is a LVDT
• Linear Variable Differential Transformer• Electrical transformer used to measure linear
displacement
19
James Wyler
![Page 20: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/20.jpg)
Construction of LVDT
• One Primary coil• Two symmetric secondary coils• Ferromagnetic core
20
James Wyler
![Page 21: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/21.jpg)
Types of LVDT
• Power supply :– DC– AC
• Type of armature :– Free (Unguided)– Captive (Guided)– Spring-extended
21
Hao Phan
![Page 22: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/22.jpg)
Power supply : DC LVDT
• Easy to install• Signal conditioning easier• Can operate from dry cell batteries• High unit cost
22
Hao Phan
![Page 23: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/23.jpg)
Power supply : AC LVDT
• Small size• Very accurate –Excellent resolution (0.1 μm)• Can operate with a wide temperature range• Lower unit cost
23
Hao Phan
![Page 24: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/24.jpg)
Armature : Free Core (Unguided)• Core is completely separable from the transducer
body• Well-suited for short-range applications • high speed applications (high-frequency vibration)
24
Hao Phan
![Page 25: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/25.jpg)
Captive Core (Guided)• Core is restrained and guided by a low-friction
assembly• Both static and dynamic applications• Long range applications• Preferred when misalignment may occur
25
Hao Phan
![Page 26: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/26.jpg)
Spring-Extended Core• Core is restrained and guided by a low-friction
assembly• Internal spring to continuously push the core to its
fullest possible extension• Best suited for static or slow-moving applications• Medium range applications
26
Hao Phan
![Page 27: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/27.jpg)
How do they work?
• An alternating current is driven through the primary, causing a voltage to be induced in each secondary proportional to its mutual inductance with the primary.
27
Hao Phan
![Page 28: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/28.jpg)
How do they work?
• The coils are connected in reverse series• The output voltage is the difference (differential)
between the two secondary voltages
28
Hao Phan
![Page 29: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/29.jpg)
Null Position
• When the core is in its central position, it is placed equal distance between the two secondary coils.
• Equal but opposite voltages are induced in these two coils, so the differential voltage output is zero.
29
Hao Phan
![Page 30: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/30.jpg)
In Phase Voltage• Displacing the core to the left causes the first
secondary to be more strongly coupled to the primary than the second secondary.
• The higher voltage of the first secondary in relation to the second secondary causes an output voltage that is in phase with the primary voltage.
• The phase of the voltageindicates the direction of the displacement.
30
Hao Phan
![Page 31: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/31.jpg)
Out of Phase Voltage
• Displacing the core to the right causes the second secondary to be more strongly coupled to the primary than the first secondary.
• The greater voltage of the second secondary causes an output voltage to be out of phase with the primary voltage.
31
Hao Phan
![Page 32: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/32.jpg)
How do they work?
• The magnitude of the output voltage is proportional to the distance moved by the core, which is why the device is described as "linear".
• Note that the output is not linear as the core travels near the boundaries of its range.
32
Hao Phan
![Page 33: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/33.jpg)
LVDT Applications
• Crankshaft Balancing• Testing Soil Strength• Automated Part Inspection• Automotive Damper Velocity
33
Hao Phan
![Page 34: Sensors Bryson Cook James Wyler Hao Phan 1. Outline Optical Encoders: Theory and applications –Types of encoders –Fundamental Components –Quadrature –Errors](https://reader030.vdocuments.mx/reader030/viewer/2022032702/56649cef5503460f949bd51e/html5/thumbnails/34.jpg)
References• http://www.macrosensors.com/lvdt_tutorial.html• http://zone.ni.com/devzone/cda/tut/p/id/3638#toc3• http://en.wikipedia.org/wiki/Linear_variable_differential_transformer• http://prototalk.net/forums/showthread.php?t=78\• http://www.transtekinc.com/support/applications/LVDT-applications.html• http://www.sensorsmag.com/sensors/position-presence-proximity/modern-lvdts-
new-applications-air-ground-and-sea-7508• http://www.macrosensors.com/lvdt_tutorial.html• http://zone.ni.com/devzone/cda/tut/p/id/3638#toc3• http://en.wikipedia.org/wiki/Linear_variable_differential_transformer• Sensors Lecture: Fall ME6405 2009• http://electricly.com/absolute-optical-encoders-rotary-encoders
34