Sections:
1. Sensors
2. Actuators
3. Analog-to-Digital Conversion
4. Digital-to-Analog Conversion
5. Input/Output Devices for Discrete Data
Computer-Process Interface
Transformation Process
Actuators
Actuators Sensors
Sensors
DAC
DAC ADC
ADC
Computer
Computer
Controller
Controller
Output Devices Input Devices
Sensors
Physical
Physical Sensing
Sensing Conditioning
Conditioning Target
Target
Medium
Medium Element
Element Handling
Handling
Transducers
Micro-sensors 10-6m
Transfer Function
S = f (s )
S = C + ms
where C = output value at a stimulus value of zero
and m = constant of proportionality (sensitivity)
Example
S = 0.4 (s)
Light
(light intensity)
Sound Touch
(db pressure)
Other Sensors
Temperature
RFID
Barcode
Proximity
Vision
Gyroscope
Compass
Tilt/Acceleration
Etc.
Actuators
Logical Mechanism
Mechanism
Signal Signal
Signal Processing
Processing Electric
Electric Hydraulic
Hydraulic
&& Amplification
Amplification Final
Final Actuation
Actuation
Pneumatic
Pneumatic
Element
Element
Actuator
Actuator
Sensor
Sensor
Types of Actuators
1. Electrical actuators
Electric motors
DC servomotors
AC motors
Stepper motors
Solenoids
1. Hydraulic actuators
Use hydraulic fluid to amplify the controller
command signal
1. Pneumatic actuators
Use compressed air as the driving force
Stepper motor and Servomotor
Servo
Motor
Torque-Speed Curve of a
DC Servomotor and Load Torque Plot
Torque, T Load
Stepper
AC Servo
DC Servo
Operating
Points
Speed, ω
NXT Mindstorms - Servo Motor
Motor Controllers
The POSYS® 3004 (Designed & Made in Germany) is a PC/104 form factor board dedicated to high
performance motion control applications with extensive interpolation functionality. The POSYS® 3004 is
designed to control up to 4 axes of servo and stepper motors and provides hardware linear, circular, Bit
Pattern and continuous interpolation which allow to perform the most complex motion profiles. Update
rates per axis do not exist as each axis runs in absolute real-time mode simultaneously which makes these
boards to one of the best performing motion controllers for up to 4 axes in the market.
Stepper Motors
360
Step angle is given by: : α=
ns
where ns is the number of steps for the stepper motor (integer)
Total angle through which the motor rotates (Am) is given by: Am = n pα
where np = number of pulses received by the motor.
2πf p
Angular velocity is given by: ω= where fp = pulse frequency
ns
60 f p
N=
Speed of rotation is given by: ns
Example
360 (1) 3.6° = 360 / ns; 3.6° (ns) = 360; ns = 360 / 3.6 = 100 step
α=
ns angles
Discrete
1001 1101 0101
Variables
Time
Hardware Devices in
Analog-to-Digital Conversion
Transformation Process
Continuous
Variable
Sensors
Sensors
&& Transducer
Transducer
Multiplexer
Amplifer Signal
Digital
Digital Analog
Analog Conditioner
Computer
Computer Digital
Digital
Converter
Converter
Other Signals
Features of an ADC
L L (2) Resolution:
R ADC = = n RADC = 60 / 65,536 -1 = ± 0.0009155 volts
Nq −1 2 −1
{
E0 = Eref 0.5 B1 + 0.25B2 + + 2 ( )
n −1
Bn }
Where E0 is output voltage; Eref is reference voltage; Bn is status of
successive bits in the binary register
E01 = 100{0.5(1)+0.25(0)+0.125(1)+0.0625(0)+0.03125(0)+0.015625(0)}
E01 = 62.50V
E02 = 100{0.5(1)+0.25(0)+0.125(1)+0.0625(0)+0.03125(0)+0.015625(0)}
E02 = 65.63V
E03 = 100{0.5(1)+0.25(0)+0.125(1)+0.0625(0)+0.03125(0)+0.015625(0)}
E03 = 70.31V
Input/Output Devices
Binary data:
Contact input interface – input data to computer
Contact output interface – output data from computer
Discrete data other than binary:
Contact input interface – input data to computer
Contact output interface – output data from computer
Pulse data:
Pulse counters - input data to computer
Pulse generators - output data from computer