MOTION CONTROL

DONE BY:
AMIR MUKMIN BIN BASRI [18FTE1345]
MUHAMMAD ABDUL MATIN BIN ALIASIN [18FTE1355]
‘IFFA ZARIAH BINTI MOHD IDRIS [18FTE13 [18FTE1348]
AK AHMAD NAQIB BIN PG MOHAMAD [18FTE2346]
MOHAMMAD SHAHANAL BIN MOHD SOFIAN [18FTE1353]
 CONTENT
• Introduction • Conversion process using Logic Circuitry
steps
• Angular velocity feedback devices
• Resolvers
• Angular displacement feedback devices
• Ratiometric tracking
• Optical encoders
• Phase digitizing method
• Incremental encoders
• Linear displacement feedback devices
• Two-track encoders
• Inductosyn
• Absolute encoders
• Linear variable differential transformer
• Gray code (LVDT)
• Conversion of gray code to binary code • Linear displacement transducer
steps
INTRODUCTION
• Automation in motion control applications is only possible if the controller sections
receives information about the conditions in the manufacturing process.
• The devices capable of monitoring these conditions are called transducers.
• Transducer performs the measurement of the condition and produces feedback that
provides information on the results.
• Some transducers produce an analog output signal and some produce a digital output
signal.
• Motion control detectors are used to measure conditions in a wide variety of
applications.
ANGULAR VELOCITY FEEDBACK
DEVICES
TACHOMETERS
• It is a device that measures the angular velocity of a rotating shaft.
• The most common type of tachometer is the DC generator.
• It has a permanent magnet stator that produces magnetic flux lines.
• A conventional DC armature is connected to the rotary object being measured.
• When the object spins, the armature cuts the flux lines and produce a voltage.
• The generated voltage is proportional to the angular velocity of the shaft.
• A voltmeter with an rpm faceplate can be calibrated to indicate the speed of the shafts
rotation. As the tachometer rotates in one direction, the polarity of the voltage is
positive. And the polarity reverses if it turns in the opposite direction.
• The results is that the tachometer output indicates both direction and speed, and they
are often used in high performance servo applications where they provide velocity
feedback for speed control purposes.
ANGULAR DISPLACEMENT
FEEDBACK DEVICES
POTENTIOMETERS
• The simplest device used as a feedback indicator is the potentiometer where it capable
of converting mechanical motion into an electrical voltage variation.
• Consists of a fixed resistive element with an AC or DC voltage connected across its
ends.
• A conductive metal slide called arm moves across the element.
• A voltage divider output is developed from one end terminal to a terminal connected to
the arm.
• The arm is mechanically coupled to the object that is being measured. As the object
moves, the resistance between the terminals varies. A voltage proportional to the
resistance forms, indication position.
OPTICAL ENCODERS
• An optical encoder is an electromechanical device that is used to monitor the direction
of rotation, position, or velocity of a rotary or linear operating mechanism.
• It has 4 major elements: a light source, a light sensor, an optical disc and signal
conditioning circuitry.
• The light source is usually a light-emitting diode (LED) that transmits infrared light.
• The light sensor is a phototransistor that is more sensitive to infrared energy than to
visible light.
• The optical disc is connected to the shaft being measured so that they rotate together.
• Optical encoders are classified as either incremental or absolute.
INCREMENTAL ENCODERS
• An incremental encoder is an electromechanical device that generates pulses on two
points output in response to incremental mechanical movements.
• How it works?

As the disc rotates, light passed through the translucent slot, generating a series of
electrical pulses which the amount of travel determine the exact number of pulses.
• Single track incremental disc usually used for tachometers to measure speed of a
rotating device, which the velocity is determined by measuring the time interval
between pulses or by counting the number of pulses within a time period. The only
drawback on using single track is that the direction cannot be determine.
Two-Track Encoder
ABSOLUTE ENCODERS
What is Absolute Encoder?
• Feedback devices that provide speed, position info by outputting

A digital word or bit in relation to motion.

• Has four concentric tracks that vary in size that is smaller

On the outside edge and bigger as it goes toward the center.

• Unique code to indicate particular positions which derive by

The light sensors located at each track.

• Another numbering system used other than standard binary system is called

Gray Code.
Gray Code
• Also uses 1s and 0s
• an ordering of the binary numeral system such that two successive values

Differ in only one bit (binary digit).

Conversion of Gray code to Binary Code
Steps.
1.Enter the gray code number to be converted into the
gray code section of the table.

2.Due to MSB of the gray code number is 1,place another 1 in column A of the
binary section of the table

3.Exclusive-Or the bit in column A of the binary section with the bit in column
B of the gray section. Place the result in column B of the binary section of
the table.

4. Exclusive-Or the bit in column B of the binary section with the bit in
column C of the gray section. Place the result in column C of the binary
section of the table.

5. Exclusive-Or the bit in column C of the binary section with the bit in
column D of the gray section. Place the result in Column D of the binary
section of the table
Conversion Process using Logic
Circuitry steps.
1. Enter binary number into the binary section of the table

2. Since the MSB of the standard binary number is 1, the same value is placed
in column A of the gray section.

3. Exclusive-Or the binary bits of Column A and B, and place the result in
Column B of the gray code section.

4. Exclusive-Or the binary bits of Column B and C, and place the result in
Column C of the gray code section.

5. Exclusive-Or the binary bits of Column C and D, and place the result in
Column D of the gray code section.
RESOLVERS
• What is Resolver?

a rotary transformer capable of making precise position measurements and, and in some
case for velocity measurements.
• Consists of a rotor winding that is attached to the rotating shaft and to the stator
windings that are stationary. And the rotor or the stator coils are used as the primary
depending on the manufacture.
• The most popular methods of determining
rotational measurements by a resolver are
ratiometric tracking and phase digitizing.
RATIOMETRIC TRACKING

• It consists of one rotor winding and two stator

windings wired 90 degrees apart.
• The rotor winding connected to the shaft is
electrically connected to an AC supply through slip
rings.
• One stator coil is labeled sine, and the other coil is
labeled cosine.
• When the rotor coil is in the 0-degree position, it is parallel to the cosine stator
and perpendicular to the sine stator coil. The result is that maximum voltage is
induced into the cosine coil and zero volts into the sine coil.
• As the rotor moves from the 0-degree position toward the 90-degree position, it
induces progressively less AC into the cosine winding and progressively more
into the sine winding.
• At 90 degree there is no voltage induced into the perpendicular cosine winding,
and the AC voltage at the sine coil is maximum.
• As the rotor turns from 90 degrees to 180 degrees, the sine voltage reduces to
zero volts. The cosine voltage increases until it is at the maximum level, but it is
now 180 degree out of phase with the rotor signal.
 PHASE DIGITIZING METHOD
• The phase digitizing resolver operates on the principle that
a phase shift between a reference signal and the voltage
induced into the rotor is a direct measure of the shaft
position.
• Two stator windings are mechanically fixed at 90-degree
angle to one another. Both are operates as the primary of a
transformer and the rotor winding is the secondary
transformer.
• The two stator windings are RPO (reference phase output)
and QPO (quadrature phase output). QPO lags the RPO by
90 degrees.
• At 0-degree position the
voltage induced by the
RPO winding into the
rotor coil is maximum
because the coils are
parallel to each other.
• Therefore, there is no
voltage induced by the
QPO winding into the
rotor winding because
they are perpendicular to
each other
• At 45-degree position, an
equal amount of voltage is
induced by the RPO and the
QPO windings into the rotor
coil.
• The rotor output shifts to the
right and lags the RPO signal
by 45 degrees.
• At 90-degrees position the
voltage induced by the QPO
winding into the rotor coil is
maximum because they are
parallel to each other.
• No voltage is induced by the
RPO winding into the rotor
coil because they are
perpendicular to each other.
• Therefore, the rotor output
signal shift to the right and
lags the RPO signal by 90-
degrees.
• At 180-degree position the
rotor is parallel to the RPO,
but it has been rotated to
180 degrees.
• Therefore, phase shift of
180 degrees is developed.
• At 270 degrees the rotor
coil is parallel with QPO
windings but it is 180
degrees out of phase.
• Therefore a 270 degree
phase shift is developed
• At 360 degrees, or 0 degree
position it will be in phase
again.
• Voltage induced by the RPO
winding into the rotor coil is
maximum.
• Voltage induced by the QPO
winding into the rotor coil is
0.
• The rotor output signal will
be in phase with RPO signal
Resolver connected to the operation
modules
LINEAR DISPLACEMENT FEEDBACK
DEVICES
INDUCTOSYN
• Although encoders and resolvers are ideal for measuring rotary position by employing
leadscrews which gives lack accuracy due to backlash and it is expensive
• A device that overcomes these issues is called inductosyn.

• Consist of 10-inch continuous

rectangular pattern called scale track

• Another part of inductosyn is slider, has 2 separate but identical printed circuit
tracks.
• The patterns are also offset by 90degree
• The slider is about 4 inches long
• Separated by air gap
• The magnetic coupling between one of the slider tracks and scale track
• An excitation current is supplied to the track, once slider track is located
adjacent to the scale track the inductive coupling is maximum.
• So, AC current of slider induces a max AC signal into scale track
• This is when the scale and slider patterns are opposite, no signal is induced to
scale track
• Actually the operating principle of inductosyn and resolvers is similar.
• Digitizing reference module an position detection used by resolvers are also
used by inductosyn
LINEAR VARIABLE DIFFERENTIAL
TRANSFORMER (LVDT)
An Electromechanical transducer
• On which produce an ac voltage proportional to linear physical replacement of an
object
• LVDT consist of one primary and two secondary coils wound around a hollow tube
• There is a metal cylinder called a core inside a tube
• This core provide a path from the magnetic flux linking the core
• As an AC voltmeter connected across the output terminal and rms voltage proportional
to the displacement
• In figure 20-24
it shows the two filtered half wave rectifiers that connected to the secondary coils
• It converts the AC output signal of LVDT to a variable DC voltage
• As the voltage is positive, it indicates the positive displacement of the core
• In Figure 20-24 B
it shows the DC output voltages form at three different core position (core A, core at
center ,Core B)
LINEAR DISPLACEMENT
TRANSDUCER
• It is a device that applies for measuring linear position
• It has housing that contents its electronic
• A tube of waveguide is spring mounted that connected to the housing
• The other end, it hard mounted
• Also inside of the housing two strain tapes made of special nickel alloy
• They are welded to the wave guide
• When a coil wrap around each tapes is place within the field of the two stationary bias magnet.
• The ring magnet, has attached to the object being measure
• A conducting wires inside the wave guide runs the entire length of the transducer tube. So the measurement
are taken along the tube form and indexing point near the housing to the location of the ring .
• To measure Linear position of a current pulse is launched from the housing along the wire at a known
speed.