2025.Sensor&[email protected]

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1. SENSORS AND ACTUATORS:

Dr. Toan Tran-Huu
Email: [email protected]
À. 7 E-Learning: Tran Hiru Toan

AE His à 2889088 M5 ‘ocwfet.iuh.edu.vn

COURSE SYLLABUS

‘Name: SENSORS AND ACTUATORS

(For Computer Science; Automation Students, IOT)
Index: 2102705

Number of Credits: 2(2,0,4)

Exam & Evaluation: Exercise(E-Leaming) ~ Experiment

— Mid-Term Exam ~ Final Exam

Course Description

This course provides the knowledge of the devices called

sensors which can convert physical quantities to electrical ones.

o The first content of this course is mainly how a sensor can
work to measure physical quantities such as position, velocity,
force, pressure, temperature... based on basically physical
phenomena

ee]
Course Description

Jo The second content of this course is characteristics and
operations of typical sensors/actuators used frequently in
industrial and practical environment such as proximity sensor,
Position sensors, force sensors, temperature sensor, motors...

Jo And the last content is to how to choose, apply a sensory
system and put them together for an automatic & smart

systems

3/5/2025

2. Course Outcomes

+ Instmction 1: identity and use a sensor/actuator using charactenstes of

igtalanalog sensors such as: optical sensors, capacity sensor, inductive
sensor, position sensor, force sensor (load-oeI),

Course Outcomes

- Instruction 2: Concepts of characters cuve ofa sensor and relation to sensor
abraten

ven any analog sense, students wil bo able o specify and draw a chracaie
curve of the sensor or calírato the sensor for an_auiomatc system whose
parameter can be adusted completo based on tis cuve

+ Instruction 3: making a choice and put many sensors for a sensor in an automatic
and smart system

Given an automatic project or machine along with ts operational principle, students
Wil be able to analyze, point out possible sensors, and make a choice of sensor to
design fr thcugh received signal

fromthe sensor

A ole y } a
[Course Outcomes

Contents

@ chopter overview
@ coaster 2, sensors and Converters
@ coaster, Actustore

@ charter 4. Applications of sensor Saduntore

@ m

3/5/2025

3. References

1. Huu-Toan Tran, Lectures of sensors and actuators, Industrial
University of Ho Chi Minh City

2. Kilian, 2006, Thomson Leaming Inc, Modem control technology:
‘Components and systems, 3rd Edition (ISBN-13: 978-1401858063,
ISBN-10; 1401858066)

3, Gerard C.M Meijer, Smart Sensor Systems, John Wiley & Sons,
2008, ISBN: 978-0-470-86891-7

4. Jon S. Wilson. Sensor Technology Handbook. Copyright © 2005,
Elsevier Inc

Course Evaluation
+ Excersice & Report Writing on E-Learning
(ocwfet.iuh.eduvn)

+ Mid-Term Exam
+ Final Exam (Writing/Interview, 4-5 questions, 90 minutes)

CHAPTER I. OVERVIEW OF SENSORS|
& ACTUATORS

171. Overview of automatic Control

3/5/2025

4. 171. Overview of automatic Control

1:1. Overview of automatic Control

> Sensors/actuators are common
+ Usually integrated in a system (never alone)

+A system with various complexity levels cannot be
designed without them

+ Definitions and terms are confusing

CONCEPT OF MEASUREMENT AND CONTROL
+ Robot arm control

We dite Mi | ici as más

Please specify he objectives ofthe elements and signals one ly one

Sete]
CONCEPT OF MEASUREMENT AND CONTROL
* Motor control

+ Pong ed: DC, AC

4 Cäm bién: bién

4 10 dién Knie

y pha
DE Driv

AC Driver (Inverter)

DC Motor

Encoder

DE Driver

3/5/2025

5. CONCEPT OF MEASUREMENT AND CONTROL

% Temperature control

Wei thin i de

Hay xác aint vai to cha teng ph tr tin hig trong he tng di lien
ang tren

CONCEPT OF MEASUREMENT AND CONTROL

% Temperature control

‘Cam bien lus

Bo diéu khud

CONCEPT OF MEASUREMENT AND CONTROL
# Overview of an automatic control system

setae

A ed = ee

Fandi Sat

1.2. Sensors

3/5/2025

6. * Ching ta thé ean bien 6 i:

Ss

Ca ai luonavæ

Ait 89 1°)
Vin xr)

Lye FIN) —
Van te rpm)

Ap Sud (NIM)

1. Definition

e lung mang an

- Cuong 6 dong din
CAMBIENL, J im

(SENSOR) Prepa

Den dung CF)

1. Definition

Also called: transducer, probe, gauge, detector, pick-up etc.

Some definitions:

‘A device that responds to a physical stimulus and transmits a
resulting impulse, (New Collegiate Dictionary)

A device, such as a photoelectric cell, that receives and
responds to a signal or stimulus. (American Heritage Dictionary)
A device that responds to a physical stn
sound, pressure, magnetism, or a particular motion) and
transmits a resulting impulse (as for measurement or operating
a control) (Webster, 3 ed., 1999)

ulus (as heat, light,

1. Definition

Stimulus

Quantity

‘Acoustic

Ware (amplitude, phase, polarization), Spectrum,
‘Wave Velocity

Biological & Chemical

Fluid Concentrations (Gas or Liquid]

Bear Charge, Voltage, Current Elect Field
(amplitude, phase, polarization), Conductivity,
Permit

Magnetic | Magnetic Field (amplitude, phase, polarization,
Flux, Permeability

Optical Retractive index, Reflectivity, Absorption

Thermal "Temperature, Fux, Specific Heat, Thermal
Conductivity

Mechanical [Position Velocity Acceleration, Force, Stain,

Ste

Pressure, Torque

3/5/2025

7. Example - Temperature control

temperature constant

Sense the temperature of a CPU
Control the speed of the fan to keep the

Definitions

y

2. Classification of Sensors

b. Classification by structure:

Active sensor: a sensor that requires external power to operate.

Examples: the carbon microphone, thermistors, strain gauges,
‘capacitive and inductive sensors, etc.

Other name: parametric sensors (output is a function of a
parameter - like resistance)

Passive sensor: generates its own electric signal and does not
require a power source. Examples: themocouples,
‘magnetic microphones, piezoelectric sensors,

Other name: self-generating sensors

Note: some define these exactly the other way around

3/5/2025

8. 2. Classification of Sensors

€. Classification by physical law:
Photoelectric
Magnetoelectric
Thermoelectric
Photoconductive
+ Magnitostrictive
Electrostrictive
Photomagnetic
Thermoelastic
Thermomagnetic
Electrochermical
Magnetoresistive
Photoelastic

2. Classification of Sensors

n by output signal of sensors:
+ ON/OFF (Digital-Proximity) sensors

Ca: 6a luong ve

a et
sean” D 9) CÂM BIEN LS 8 [TT LIT

Van Mom) (SENSOR)

Rem)

2. Classification of Sensors

d. Classification by output signal of sensors:
+ Analog sensor =

Cac 6a luong vty

nat Tec) _
urn | CAM BIEN
Van te rpm) (SENSOR)
ole

2. Classification of Sensors

d. Clas: n by output signal of sensor
+ Pulse sensor (Encoder)

Cae 6a luong vt
v8L 9 TC)

(mm) fl cAmpienL, II LS UL
rom) (SENSOR)
Asu Pty

UU]

3/5/2025

9. 2. Classification of Sensors

Contact sensor: a sensor that requires physical contact
with the stimulus. Examples: strain gauges, most
temperature sensors

Be

Non-contact sensor: requires no physical contact.
Examples: most optical and maanetic sensors,
infrared thermometers, etc.

3. Physical Principles

+ Amperes's Law
“A current camying conductor in a magnetic field
experiences a force (e.g. galvanometer)

+ Curie-Weiss Law
+ There is a transition temperature at which ferromagnetic,
materials exhibit paramagnetic behavior

+ Faraday's Law of Induction
= A coil resist a change in magnetic field by generating an
‘opposing voltagelcurrent (e.g. transformer)

+ Photoconductive Effect

= When light strikes certain semiconductor materials, the
resistance of the material decreases (e.g. photoresistor)

Vi du. Hiéu ting áp dien

> Mot só vat liu gol chung lá vat liéu äp din, khi bj bién
dang dur6i täc dong cúa lue co hoc, tren các mat döi dien cua
tám vat ligu xuát hign nhüng lugng dign tich báng nhau
nhung träi dau, durge goi là higu umg äp dign. Bo V ta có thé
xác dinh durge cuóng 49 cüa Iyctác dung F.

> Higu ing äp dien

À ver tiring ding ené a0 cm

<—S bién luc.

3. Physical Principles

Vi du. Higu tng cam úng dien tir
> Khi möt day dan chuyén dóng trong tir truöng khong déi,
trong day dan xuát hign mgt suát dign dong ty 1¢ voi tir thong
cat ngang day trong möt don vj thôi gian, nghia là ty 18 voi tóc
46 dich chuyén cua day (Tuwng ty cho mot khung day)

> Higu úng cam úng dién
ta auge úng dung dé xác
dinh töc 49 dich chuyén
cia vát thöng qua vige do
m ‘suat dien dóng cam tng.

3/5/2025

10. Specifications of Sensor
a. Charasteristic curve (Budng cong dác tinh)

Xét vi du hé thóng do nhiét dó ding cam bién nhiét:
Lome

4. Specifications of Sensor

a. Charasteristic curve (Duöng cong dác tinh)
Xét vi du hé thóng do nhiét 46 dung cám bién nhiét

mt

Tuyén tinh hóa dung dác tinh: Möt cam bién dugc gai
la tuyén tinh trong mét dai do xác dinh néu trong dai
ché 46 d6, dó nhay khöng phu thuéc váo dai long do.

Néu cam bién khöng tuyén tinh, ta dua vao mach do
cc thiet bj hiéu chinh dé tuyén tinh hod.

+r

> Tuyén tinh hóa duéng dác tinh:

+ Khi chuán cám bién, ta nhán duce nhi&u diem
tuong üng (si ‚mi) cúa dai lugng dau ra vá dai
lugng dau väo.

+ Véi cäc cam bién tuyén tinh, duëng cong chuán lá
möt dudng tháng.

+ Do sai só khi do, các diém chuän (mi, si) nhán dude
bang thuc nghiém thuëng khéng näm trén cúng
möt duëng thang.

3/5/2025

11. fications of Sensor

b. Accuracy: error between the result of a
measurement and the true value being
measured

> D6 chinh xäc dwoc do bang Sai só (Error)

Cam bién cling nhu các dung cu do luéng khác,
ngoai dai lugng cán do cón chiu täc dóng cúa nhiéu
dai lvong vat ly khác gay nén sai só gia gid tri do
duge va gid tri thuc cua dai lugng cán do. Gol Ax là 46
léch tuyét di gia gid tri do vá gid tri thuc x (sai só
tuyét di), sai só tung di cúa bó cam bién duge tinh
báng: AX

ô= "100 [5%]
x

4. Specifications of Sensor

+ Resolution: the smallest increment of measure
that a device can make

How to Calculate Minimum
Required Encoder Resolution:

Resolution (PPR) = 380-/ Smale

3° Required

36015 = 120 PPR

_ Truevaue

pecueacy

[A seston

#

3/5/2025

12. Sensitivity

c. Dé nhay cúa cam bién

881 véi cäm bién tuyén tinh, git bién thién dau ra As
va bién thién dau váo Am có su lién hé tuyén tinh

Am

AS. ‚auge goi là d6 nhay cúa cam bién

Am

4. Specifications of Sensor

Dynamic Range: the ratio of maximum recordable

input amplitude to minimum input amplitude, i.e.

D.R. = 20 log

+ Transfer Function (Frequency Response): The
relationship between physical input signal and
electrical output signal, which may constitute a
‚complete description of the sensor characteristics.

Bandwidth: the frequency range between the

lower and upper cutoff frequencies, within which
the sensor transfer function is constant gain or
linear.

+ Noise: random fluctuation in the value of input that

causes random fluctuation in the output value

5. Applications

Sensors & Control in Industrial applications

jes

I
we

5. Applications

Yu

3/5/2025

13. 5. Applications

5. Applications

ss

RESULT
OK O

Yu

3/5/2025

14. 5. Applications

5. Applications

RESULT

coc...
NG NG NO NG OK

5. Applications

ss

Bu 5. Applications

Antenna Position Control

3/5/2025

15. 5. Applications

a) wimps») O

5. Applications

Lower Exoskeleton and BioRobot (Source: BLEEX, HAL

Walker] at

Lower Exoskeleton and Bio Robot (Source: HUALEX]
‘has

1.3. Overview of actuators

Saro

Tru

He HE

3/5/2025

16. [Bu 1.3: Overview of actuators

* Concept Actuator

* An actuator is a component of a machine that is responsible for
moving and supplying power fo a mechanism or system, for example ly
Opening a valve converting electric power to force Torque …

* An actuator requires a control signal and a source of energy.

De | ao gral

Wotton Forse

Overview of actuators

> Kind nitm - Phin tir ehdp han (Actuator)

* Phin 1ogi Phin tir ci hank (Actuator)

1.3; Overview of actuators

+ Phin toai - Phin bi ché hänh (Actuator theo chuyén ang

1. CAC PHAN TU CHAP HANH BIEN CO
a Dóngco DC

3/5/2025

17. 1. CÁC PHAN TÚ CHAP HANH DIEN CO
à DC motor (Ding er DO
The DC motor isthe device which converts the direct carent into the
‘mechanical work works on the principle of Lorente Lin which sates
‘hat “the carve carrying conductor placed in a mague af elect
“fet experience a force”. And that force à called the Lorent force. The
‘Flemming Le hand rate gives the direction of the force.

1. CAC PHAN TÚ CHAP HANH BIEN CO
à. DC motor Ding co DO

Ki sir dung môt ding co DG, ching ta quan tio din nhitug thong só -
win dé gi?

force £ ES
Magnet Field R =
— 4 s
n s
> A
CÁC PHAN TÜCHÄP HANH BIEN CO |. CAC PHAN TU CHAP HANH DIEN CO
1 AC motor (Dóng co AQ 2 AC motor (Dóng ca AC)

Ki si dung môt ding co AC, ching ta quan tio din nhitug thong só -
win dé gi?

3/5/2025

18. 1. CÁC PHAN TÜCHÄP HANH DIÉN CO
1. Dong co AC.

In an AC motor, the induction principle is utiliza in reverse. A tive
conductor à placed in a magnetic feia. The conductor à influenced by a
force which tries to move it through the magnetic feta

1. CAC PHAN TÜ CHAP HANH BIEN CO
Dong co baie

le

1. CAC PHAN TÜCHÄP HANH PIEN CO
Dong cobnée

Diku Kid vf theo vóng
ta có thé digu chink vj 0 quay

(Gin phin hot vf tri nhw cic dong co Kh, Khóng phat ding den
encoder hay may phat tie.

1. CAC PHAN TU CHAP HANH PIEN CO

e Dong co bie

[Nguyén lj: Cáp sung lin gt cho cc cuán dáy stator:
3

Lagat

3/5/2025

19. 1. CÁC PHAN TÜCHÄP HANH DIÉN CO

à Dong coseno

1. CAC PHAN TÚ CHÁP HANH DIEN CO

à Dongea servo

2. CAC PHAN TU CHAP HANH KHÍ NÉNTHÚY LUC

Xvlanh khí nen tic dung kép: Ap le tic dung ln
xylanh móuhai phia

E =
—— yi
i khong diéu Ki higu loai diéu chinh

chinh duge vi tri Auge vi tri

3/5/2025

20. Döng co khi nen tic dung kép: Ap lue tác dung len
dông co mévhai chiéu

2. CÁC PHAN TÜ CHAP HANH KHÍ NÉN/THÚY LUC
‘Van dao chiéu (van phán phöi) solenoid

2,
ALIN
1 y
4,,2
ql as
am 5 3

2. CAC PHAN TÜCHÄP HANH KHÍ NÉNTHÚY LUC

=

11.4. Overview of Power devices & Drivers

* Knät nigm — Phän tr trang ginn: Dién Rhién — Dong ec

rare

Fnac Sana

3/5/2025

21. 1.4. Overview of Power devices & Drivers

»* Kid niém— Ph tc trang gan: Dién hin - Dón tee
* Phin togi - Theo Phin te chäp hänh (Actuator)
Roi Contador

+ Soft Starter
= Bin tán- Divers

+ Van do chi (solnaic)
© Van ap suét(sdenoia)

1. CAC PHAN TÜTRUNG GIAN DIÉU KHIEN BIEN - CO

Relay

Hinh dang möt val
= Von pn sh (soi) logi Ro le trung
von is (ere) gian thuëng düng
Shading col Armature
(aC ony \ NC contact
Spring > \
RO a
4 Ap NO contact
no we
E pc
— Einstand jo]
De 7 E
Neuen hogtdóng Ay higw

Neuyen hogt dong

3/5/2025

22. 1. CAC PHAN TÜTRUNG GIAN BIEU KHIEN BIEN - CO

Contactor

CONTACTOR SHI-L CONTACTOR GMC-22

1. CAC PHAN TÜTRUNG GIAN DIEU KHIEN DIEN - CO

Relay ban dan cúa các nuée san xuát

se

Eu

RO LE THOI GIAN
(Times Relay)

Hinh dang Ro le thöigian OFF-Delay

RO LE THÔI GIAN
(Times Relay)

D € 7

>quin

So dé chân Re le thöigian

3/5/2025

23. RO LE THOI GIAN
(Times Relay)

pit
al

RO LE THO GIAN
(Times Relay)

ROLE BAN DAN VA BO DIEU KEEN CONG SUÁT
(Solid State Relay and Power Controller)

a Hinl deng ta Relay bän lin

Loai Solid State
Relay möt pha:
Nguôn diéu khién

ROLE BAN DAN VA BO DIEU KHIËN CONG SUAT
(Solid State Relay and Power Controller)

Solid State relay cía Phäp

3/5/2025

24. ROLE BAN DAN VA BO BIËU KEIN CONG SUAT
(Solid Siste Relay and Power Controller)

ROLE BAN DAN VA BO DIEU KEEN CONG SUAT

Solid State Relay la lon dibu khién cóng suit ON/OFF ea ban,
düng cho thay thé che tiét bj dóng ngät truyén thong hr Relay,
contactors vöinhümg tinh nang vugt tri hen.

Solid State relay cia MP Cóhai logi ro le ban dán: mét pha vá ba pha
ROLE BAN DAN VÁ BO DIBU KEIEN CONG SUAT ROLE BAN DAN VA BO DIEU KHIËN CONG SUAT
(Solid Siste Relay and Power Controller) (Solid Sisie Relay and Power Controller)
TI ¢ | [ee
a ss D

Power controller.

3/5/2025

25. BO DEM VA DAT THOI GIAN
(Counter-Timer)

==

CTI

BO DEM VA DAT THOI GIAN
(Counter-Timer)

> Clie ing dung ting dung cüa bé Counter-Times

Cil bit ttm cdo

BO DEM VA DAT THOT GIAN
(Counter-Timer)
> Các ing dung img ee bg Counter-Times
O.

chièu
däi

Rotary Encoder
<

BO DIEU KHIEN NEIET BO VA DU KHIËN SO
(Temperature & Digital Controllers)

Là bg ad Kién chi hj nt 49
vá nhiéu chire nang cting nhur
cóng dung khäc:

+ Sit dung cäm bién nhigt A6.

+ Lim tent, xädöng

+ Diéukhién nigra

+ Diéukhién PID kép...

B6 diéu khien nhiét 4ÿ ESCSZ

3/5/2025

26. BIEN TAN (Inverter)
> Bién tin là thiée bj Kam thay dit tin sé döng dién ag tén cupn diy
bén trong dong co vá thong qua dé bién tán có thé dien khién toc ap
döng co mét câch v6 cép, Không cin ding den các hôp só ca Khi
bién tin during sir dung các tink kifn bén din dé dóng ngät tan te
ede cuón dáy cha ding co dé lim sink ra tic truöng xoay....

BIEN TAN

> Newvén Dé

BIÉN TÁN (Inverter)

> Datasheet Manual cüa bién tán Omron

BIEN TAN (Inverter)

> Datasheet Manual cita bién tin Omron

3/5/2025

27. BIEN TAN (Inverter)

> Datasheet Manual cüa bién tán Omron

Gem)

(Driver of stepping motor

sé tait

ign ap dâu van: Tw 10V -3SVDC. Tot

ht nén dang 24VDC

+ Dongedt da aáura: 354

+ Kich tuée: Torn x Some x 3m.

+ Si dung chip TBESSOAHQ ai Toshiba
co ete nag bio vé qua nit va qué.
ong

+ Si dung thich nop vol ding co buae 3A,
SA lon 42, $7 v012-phase/4- phase/4
‘iy! 6 gy.

+ Chueningty ing glim 12 dong aién
i qua ei

+ Lam vie wo ec che Fall step, hat
step, 18 step, 1/16 step, en 4é16 ché a6.

Me BL. TB 6560 di Min ding
pres

|
Lg: Driver of servo motor

abia
E
a
ne do at lel
nee
nennen nce
x MSO_410V2 va ohän mám PR
eee cert le uy cn FULDIR bugs,
I e
» oz gung
lado TR
iaa

fi trén driver

2. CAC PHAN TÜ TRUNG GIAN DIEU KHIEN KHI NEN

24
== ALI de
ise ME

3/5/2025

28. 3/5/2025

Thank You !