Sistem Instrumentasi

Sensor Gerakan (posisi dan kecepatan)

Ir. Jos Pramudijanto, M.Eng. Jurusan Teknik Elektro FTI ITS Telp. 5947302 Fax.5931237 Email: jos@ee.its.ac.id
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Pengantar
Objektif:
Macam sensor posisi dan sensor kecepatan Metode pengukuran dengan sensor posisi dan kecepatan

Definisi:
Suatu sensor yang mengkonversikan perubahan gerakan suatu objek menjadi energi listrik Suatu perubahan kecepatan bisa didapatkan dari perubahan posisi

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Sensor Posisi
Resistive
Potentiometers

Inductive
Linear Variable Differential Transformers (LVDTs) Synchros, Resolvers, and Inductosyn

Electro-optical
Optical encoders

Capacitive, piezo-electric, ultrasonic, magnetostrictive, etc.

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Potensiometer
Sensor analog yang bekerja seperti divider

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Potensiometer dan Proximity

Potensiometer (rotary and linear)

Proximity switch (mechanical)

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Potensiometer untuk posisi

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LVDT
Linear-Variable Differential Transformer

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Konstruksi LVDT
LVDT terdiri dari magnetic core yang bergerak dalam silinder.

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Prinsip Kerja LVDT

Inti berada di tengah-tengah maka :
Flux S1 = S2 Tegangan induksi E1 = E2 Enetto = 0

Inti bergerak ke arah S1 maka :

Flux S1 > S2 tegangan induksi E1 > E2, Enetto = E1 - E2 Flux S1 < S2 Tegangan induksi E1 < E2 Enetto = E2 E1

Inti bergerak ke arah S2 maka :

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Synchro

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Rangkaian Synchro

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Synchro to Digital Converter

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Resolver
Uses an AC signal to excite the rotor winding. Stator has two windings at 90 degrees to each other. As the rotor turns the coupling to the two windings will change

Cosine Reference

Sin

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Rangkaian Resolver

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Inductosyn
Similar to a resolver but made in two planes. The Inductosyn has many pole pairs, +50 The output will repeat ones for each pole pair. Each cycle can be decoded to +14 bits Require very precise alignment, and high quality amplifiers. Analog Encoders offer similar solution at a lower cost.

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Konstruksi Inductosyn

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Optical Encoder

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Sinyal Output Optical Encoder

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Increment Encoder
Generally Have two picks up that are 90 degrees out of Phase (A and B) This allows you to determine the direction of rotation and thus count up or down By using the rising and falling edges of both A and B we can get 4 times the number of slots. May have one or more index marks for homing.

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Absolute Encoder
Gray Code Vs Binary Gray Code only changes by one bit per transition. At least one sensor per track. 11 01 11 01

01

00

00

10

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Pengukuran dg Encoder Absolute

! Shaft Encoder convert position into binary equivalent.

This system use 8 bit shaft encoder. So, the resolution of shaft encoder is :

360 o resolution = 8 = 1, 41 2
! The linear displacement is :

angle linear displaceme nt = 2 r o 360

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Konstruksi Encoder Increment

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Konstruksi Encoder Increment

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Konstruksi Encoder Absolut

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Perbandingan Sensor Posisi

Incremental Encoder dan Resolver paling populer
Resolution Bits 12 16 22 14 24 24 24 Incremental or Absolute Incremental Absolute Absolute Absolute Incremental Either Either Signal Type Digital Digital Analog Analog Volts RMS Analog millivolts Analog millivolts Analog millivolts Electrical Number Imunity of Wires Very 4-8 Good Very 20+ Good Fair Good Fair Fair Fair 6-10 6 6 6-10 6-10 Electrical Interface None None Interpolator R/D Converter Amp +Converter Converter Converter

Type Encoder Incremental Encoder Absolute Sinusoidal Encoders Resolver Inductosyn Capacitive Inductive

Signals A, B, Index Binary Sin, Cos, Index Sin,Cos Sin, Cos Sin, Cos Sin, Cos

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Sensor Kecepatan
Inductive
tachogenerators linear sensors

Gyroscopes Differentiation of position

analog digital

Integration of acceleration
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Tachogenerator
Sensor ini konstruksinya mirip motor DC magnet permanen. Tegangan keluaran yang dihasilkan berupa tegangan DC.

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Increment Encoder
Encoder yang digunakan untuk pengukuran kecepatan menggunakan encoder dengan output A, B, dan Z Output A dan B berbeda phase sebesar 90 derajat. Sedang output Z untuk zero index (untuk kecepatan tinggi).

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Accelerometer
Accelerometer bahan piezo-electric. Pengukuran kecepatan dengan membuat rangkaian integrator.

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Capacitive and Inductive Sensors

Operate similar to analog encoders. Patterns are placed on the rotor and stator. Rotor and stator can be made of low cost materials Technology similar to printed circuit board fabrication. Capable of very low power operation. This would allow for battery baked operation. Resolution similar to analog encoders and Inductosyns Electronics utilize Digital to Analog converters and DSPs or PLDs.

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