NPTEL >>Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 6- Lecture 40

Introduction to Position Sensing

D Bi h kh Bh tt h Dr. Bishakh Bhattacharya
Professor, Department of Mechanical Engineering
IIT Kanpur
J oint Initiative of IITs and IISc - Funded by MHRD
NPTEL >>Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 6- Lecture 40
ThisLectureContains
Introduction to Position Sensing
Direction sensing Hall effect, Gyroscope, Sagnac
Effect, Tilt Sensor
Distance sensing - Radio Beacon, LVDT, Capacitance
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NPTEL >>Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 6- Lecture 40
Position Sensing .. os o Se s g
NPTEL >>Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 6- Lecture 40
A case history: lessons from Navigating
Bi d Birds
Golden plovers and Arctic terns navigate thousands of miles
f A i A i h d il d from Arctic to Antarcticatwenty-two thousand miles round
trip, in the case of the Arctic tern!
Th fl b d b i ht f t l ft ti They fly by day or by night, over featureless seas, oftentimes
out of sight of land, and above cloud layers.
?
Landmarks - Homing pigeons can learn landmarks within about
20 km of their home.
HOWDOTHEYNAVIGATE?
Constellations. Most long-distance migration occurs at night,
but starts at dusk. Sunset point can be used as an initial
orientation point. p
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NPTEL >>Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 6- Lecture 40
More lessons from Navigating Birds More lessons from Navigating Birds
Sun compass. Birds flying in daytime can use the sun as a
di i l b h i i h l i i l directional cue, but they must use its azimuthal position along
with their own biological clock. In the winter, the sun is located
directly south at noon, but it moves 15 per hour, so that at 3
PM, south is 45 left . PM, south is 45 left .
On overcast days, birds can still use this information because
they can detect the pattern of polarization of light in the sky at y p p g y
the sunset point.
Stellar navigation involves using constellations and the motion g g
of these patterns around the earth's axis of rotation. Birds,
even inside a planetarium, during periods of migratory
restlessness flew in the opposite direction of the axis of
rotation of the stars - South - regardless of the true position rotation of the stars - South - regardless of the true position
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NPTEL >>Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 6- Lecture 40
Do Birds use Magnetic Cue? Do Birds use Magnetic Cue?
Magnetic Cues Birds must have a magnetic sense, which is
i i l id d i b ( h k lli surprisingly widespread in vertebrates (sharks, rays, alligators,
sea turtles, birds and perhaps one species of mouse).
C d bi d i t th d h th 't th Caged birds orient southward even when they can't see the
sky. In early experiments, surrounding the cage with steel to
eliminate magnetic field cues eliminated orientation.
One of the hypothesis is that the navigating birds sense the
magnetic field of the earth and thus can orient themselves with
respect to magnetic north and south. p g
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NPTEL >>Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 6- Lecture 40
Our Methods of Direction Sensing Our Methods of Direction Sensing
Magnetic compass
Sextant + Chronometer
H ll P b Hall Probes
Gyroscope mechanical & optical
Tilt Sensor Tilt Sensor
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NPTEL >>Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 6- Lecture 40
Magnetic Hall Effect Magnetic Hall Effect
If an electric current flows through a conductor in a magnetic field, the
magnetic field exerts a transverse force on the moving charge carriers .
This tends to push them to one side of the conductor.
This is most evident in a thin flat conductor as illustrated. A buildup of This is most evident in a thin flat conductor as illustrated. A buildup of
charge at the sides of the conductors will balance this magnetic influence,
producing a measurable voltage between the two sides of the conductor.
The Hall voltage is given by
V IB/ d h d it l t h V
H
= IB/n e d; n charge density, e electron charge
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NPTEL >>Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 6- Lecture 40
Gyroscope Gyroscope
G roscope also called a g ro is a de ice that ses Gyroscope, also called a gyro, is a device that uses
rotation to produce a stable direction in space.
Gyroscopes are used for high precision inertial Gyroscopes are used for high precision inertial
navigation systems like in the Air-crafts, Rockets and
Unmanned Aerial Vehicles
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NPTEL >>Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 6- Lecture 40
Sagnac Effect Sagnac Effect
A more precise inertial navigation system is named after the A more precise inertial navigation system is named after the
French physicist Georges Sagnac. This phenomenon as the
diagram suggests is based on interferometry which happens
during rotation. A sensor based on Sagnac interferometry can
measure the angular velocity of the system with respect to the measure the angular velocity of the system with respect to the
local inertial frame. By integrating the signal, you can easily
obtain the angular rotation. Even though such systems are
commonly called optical gyroscopes , however, these are not
exactly gyroscopes as gyroscopes are based on conservation exactly gyroscopes as gyroscopes are based on conservation
of angular momentum.
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NPTEL >>Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 6- Lecture 40
Tilt Sensor Tilt Sensor
Whenthesensortilts,thesurfaceofthefluidremainsleveldueto
gravity. The fluid used is electrically conductive, and the conductivity gravity.Thefluidusediselectricallyconductive,andtheconductivity
betweenthetwoelectrodesisproportionaltothelengthofelectrode
immersedinthefluid.
Attheangleshown,forexample,theconductivitybetweenpinsaandb would
begreaterthanthatbetweenb andc.
Electrically,thesensorbehavessimilartoapotentiometerbychanging y, p y g g
resistanceinproportiontothetiltangle.
Thesensor'sanglerangeisafunctionofthevolumeoffluid,electrodespacing,
andelectrodeheight.Providedthattheelectrodesandcontaineraretall
enoughnottobelimitingfactors,tiltmeasurementrangeisproportionalto
fluidvolume.
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NPTEL >>Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 6- Lecture 40
M th d f Di t S i MethodsofDistanceSensing
NPTEL >>Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 6- Lecture 40
Radar Longrange
Sonar
RadioBeacon1mto100m
Linear Voltage Differential LinearVoltageDifferential
Transformer(LVDT).1mmto1m
Capacitance based Sensors 1 t CapacitancebasedSensors1mmto
1m
Potentiometer POD PotentiometerPOD
OpticalEncoder
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NPTEL >>Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 6- Lecture 40
Radio Beacon + Ultrasonic Sensingg
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NPTEL >>Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 6- Lecture 40
Radio Beacon + Ultrasonic Sensingg
I thi t i di ll h b i lt l it In this system, periodically, each beacon simultaneously emits a
radio frequency (RF) pulse and an ultrasonic pulse.
The RF pulse, traveling at the speed of light (3108 m/s), arrives at
all receivers almost instantaneously. The ultrasonic pulse, on the
other hand, traveling only at about 330 m/s and arrives at the
receiver delayed by a time proportional to its distance to the
beacon.
Each robot measures this delay, using the RF pulse for
synchronization, and converts it to a distance measurement by y , y
multiplying it with the speed of sound.
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NPTEL >>Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 6- Lecture 40
LVDT (Linear Voltage Differential ( g
Transformer)
The basic LVDT system consists of one primary and two secondary coils The ThebasicLVDTsystemconsistsofoneprimaryandtwosecondarycoils.The
plungercanfreelymoveatthecore.When,theplungermovesduetothe
externalforce,theplungerwillbeasymmetricwithrespecttothetwosecondary
coilsandhenceoneofthemwillindicatehighervoltage.Foroutward
movement,secondarytwowillshowhighervoltagewhileforinwardmovement,
secondaryonewillshowhighervoltage.Thus,thesystemcanbeusedto
measurethechangeofdistanceforapplicationslikesurfaceprofiling.
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NPTEL >>Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 6- Lecture 40
Capacitance based Proximity Sensors y
d
A
C
r

0

0
= absolutepermittivityoffreespace(8.85
10
12
)

r
= relativepermittivity(dielectricconstant)of
di i b t l t
This is a parallel plate capacitor Capacitance describes how the space between
mediumingapbetweenplates
A = platecommonsurfacearea
d = plateseparation(displacement)
Thisisaparallelplatecapacitor.Capacitancedescribeshowthespacebetween
thetwoconductorsaffectsanelectricfieldbetweenthem,andreferstothe
capacityofthetwoplatestoholdthischarge.Alargecapacitancecanhold
morechargethanasmallone.
Considertwoparallelsteelplateswithagapbetweenthem.Whenavoltageis
appliedtooneoftheplates,thedifferencebetweenthechargesstoredonthe
surfacesoftheplateswillcauseanelectricfieldtoexistbetweenthem.
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NPTEL >>Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 6- Lecture 40
Special References for this lecture Special References for this lecture
Wikipedia - http://en wikipedia org/wiki/ Wikipedia - http://en.wikipedia.org/wiki/
www.sensorsmag.com
Modern Control Systems Dorf and Bishop Addison-Wesley
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