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WHAT IS INSTRUMENTATION
is a collection of Instruments and their application for the purpose of Observation, Measurement and Control. Reference: ISA std. S 51.1 The key word is
Observation or measurement control
Instrumentation
Cold water in steam in process hot water out
4-20 mA
4-20 mA
Instrumentation
What is sensor
Def. 1. (Oxford dictionary) A device giving a signal for the detection or measurement of a physical property to which it responds. Def. 2. A sensor is a device that receives a signal or stimulus and response with an electrical signal. Electrical mechanical Magnetic Chemical Optical Radiation Thermal
Sensor properties
Measurements Heisenberg (1927): The momentum and position of a particle can not both be precisely determined at the same time. Measuring activity disturbs the physical process (loading effect), produce error Measurement error: That is the difference between the measured value and the true value. error = measured value - true value Deterministic errors: They are repeated at every measurement, e.g. reading offset or bias. Such errors can be reduced by proper calibration. Random errors: They are caused by several parameters and change in time in an unpredictable fashion. They can be quantified by mean errors, standard Deviation. Can be reduce by averaging several measurements
Sensor properties
output
input
Ideally, the sensor characteristic is a straight line should take no time convert the input. But that is never the case.
SENSOR CHARACTERISTIC
Accuracy : Error measurement Sensitivity: change in output for unit change in input Resolution: the smallest change in the signal that can be detected and accurately indicated by a sensor. Linearity: the closeness of the calibration curve to a straight line. Drift: the deviation from the null reading of the sensor when the value is kept constant for a long time.
SENSOR CHARACTERISTIC
Hysteresis: the indicated value depends on direction of the test (increasing and decreasing) Repeatability (precision): the maximum deviation from the average of repeated measurements of the same static variable. Dynamic Characteristics: A sensor may have some transient characteristic. The sensor can be tested by a step response where the sensor output is recorded for a sudden change of the physical variable. The rise time, delay time, peak time, settling time, percentage overshoot should be as small as possible.
ACCURACY
Accuracy
Accuracy is a degree of conformity of an indicated value to recognized accepted standard value or ideal value Measured accuracy is the maximum positive and negative deviation observed during a testing a device under specified condition and procedure. Accuracy rating is a number or quantity that defines a limit that error will not exceed when the device is used under specific condition. When the operating conditions are not specified reference operating condition should be assumed. In specification sheet term accuracy should be assumed to mean accuracy rating. Accuracy rating includes the combines effect of conformity, hysteresis, dead band, and repeatability.
output
Accuracy
downscale calibration Specified characteristic
Accuracy, rating
Upscale calibration Max actual negative deviation Max actual negative deviation
Input
100%
Accuracy, rating
Accuracy rating can be expressed in number of form, e.g.: 1. In term of measured variable e.g.: 2o C 2. In percent of span e.g.: 0.5% of span 3. In percent of upper range e.g.: 0.5% of upper range 4. In percent of scale length e.g.: 0.5% of scale length 5. In percent of output reading e.g.: 0.5% of output
-10
110 Range -10 to 110, upper range 110, lower range -10 Span = length = 120
Measuring Accuracy
Create calibration table by 1. Set 50% input (the input must be secondary standard source) 2. Read the output 3. Compute the percentage deviation and write it down in the table 4. Repeatedly increase the input until 100% is reach then decrease until 0%, increase and decrease again and again.
Measured Accuracy
actual error % of span Input % 0 10 20 30 40 50 60 70 80 90 100 -0.18 -0.27 -0.32 -0.27 -0.16 0.09 up down -0.04 0.14 0.23 0.24 0.13 -0.02 -0.12 -0.17 -0.17 -0.06 0.04 0.08 0.09 -0.07 -0.16 -0.25 -0.30 -0.26 -0.15 0.11 up down 0.05 0.15 0.26 0.25 0.15 0.01 0.10 -0.16 -0.15 -0.05 0.05 0.09 0.10 -0.04 -0.13 -0.23 -0.28 -0.72 -0.14 0.1 up down 0.06 0.16 0.26 0.26 0.17 0.01 -0.08 -0.12 -0.13 -0.04 0.06 0.13 0.11 -0.04 -0.13 up
Measured accuracy is the greatest positive and negative deviation of the recorded values. Measured accuracy is -0.32% to +0.26%
DEAD BAND
Dead band.
Dead band is the range through which an input can be varied without initiating observable response. Dead band is usually expressed in percent of span
Dead band
Dead band.
To measure dead band proceed as follows: 1. Slowly increase the input until a detectable output change is observed 2. Observe the input value 3. Slowly decrease the input until a detectable output change is observed 4. Observe the input value The difference between step 2 and 4 is the dead band. Those steps is repeated for input from 0% to 100%. The highest number is reported Example: the dead band is 0.10% of the input span
DRIFT, POINT
Drift, Point
Drift is change of input-output relation over a period of time Point drift is the maximum change in recorded output during the test period, expressed in percent of output span. Example: The point drift is 0.1% of output span for 24 hour test To measure drift proceed as follows: 1. Adjust the input to the desired values without overshoot and record the output value. The test device should be permitted to warm up before recording the initial output value. 2. Maintain a fixed input value and fixed operating condition for the duration of the test. 3. Record the output value during the test.
HYSTERESIS
Hysteresis
A property of element evidenced by the dependence of the output value for the given excursion of input, upon the history of prior excursions and the current direction of the traverse.
output
Hysteresis input
input
input
output
input
Hysteresis
Hysteresis is usually determined by subtracting the value of dead band from the maximum separation between upscale going and down scale going indication of calibration report. This measurement is sometimes called hysteresis error or hysteretic error
Hysteresis
Input % 0 10 20 30 40 50 60 70 80 90 100 -0.18 -0.27 -0.32 -0.27 -0.16 0.09 actual error % up down -0.04 0.14 0.23 0.24 0.13 -0.02 -0.12 -0.17 -0.17 -0.06 0.04 0.08 0.09 -0.07 -0.16 -0.25 -0.30 -0.26 -0.15 0.11 up down 0.05 0.15 0.26 0.25 0.15 0.01 0.10 -0.16 -0.15 -0.05 0.05 0.09 0.10 -0.04 -0.13 -0.23 -0.28 -0.22 -0.14 0.1 0.06 0.16 0.26 0.26 0.17 0.01 -0.08 -0.12 -0.13 -0.04 0.06 0.13 0.11 -0.04 -0.13
Hysteresis + dead band = 0.22% If the dead band is 0.1% the hysteresis is 0.12%
LINEARITY
Linearity
The closeness to which a curve is approximates a straight line The linearity of curve a is better then curve b. output It is usually measured as a a b nonlinearity and is expressed as linearity e.g. a maximum deviation between an average curve and a straight line. There are 3 type of linearity i.e. independent, terminal based, and input zero based linearity
Independent Linearity
output
It is the maximum deviation of calibration curve (averaged of upscale and down scale reading) from a straight line so positioned as to minimized the maximum deviation.
input
Max
It is the maximum deviation of calibration curve (averaged of upscale and down scale reading) from a straight line coinciding with the calibration curve at the upper and lower range values
input
Max deviation
input
It is the maximum deviation of calibration curve (averaged of upscale and down scale reading) from a straight line so positioned as to minimized the maximum deviation and coincide with the lower range value.
Max
Measuring Linearity
1. Take the average deviation for every input 2. Find the straight line for independent, terminal based, and zero based linearity. 3. Compute the linearity
Input % dev %
0 10 20 30 40 50 60 70 80 90 100 -0.050 0.100 0.175 0.175 0.050 -0.075 -0.175 -0.225 -0.200 -0.100 0.100
0.4 0.3 0.2 0.1 0.0 -0.1 -0.2 -0.3 -0.4 zero based straight line
1. Independent linearity =.18% 2. Terminal based linearity =.28% 3. Zero based linearity =0.21%
REPEATABILITY
Repeatability
The closeness of agreement among number of consecutive measurement for the output of the same value of the input under the same operating condition approaching from the same direction. It is usually measured in non-repeatability and measured as repeatability in percent of span
output
Repeatability input
Repeatability
actual error % of span Input % 0 10 20 30 40 50 60 70 80 90 100 -0.18 -0.27 -0.32 -0.27 -0.16 0.09 up down -0.04 0.14 0.23 0.24 0.13 -0.02 -0.12 -0.17 -0.17 -0.06 0.04 0.08 0.09 -0.07 -0.16 -0.25 -0.30 -0.26 -0.15 0.11 up down 0.05 0.15 0.26 0.25 0.15 0.01 0.10 -0.16 -0.15 -0.05 0.05 0.09 0.10 -0.04 -0.13 -0.23 -0.28 -0.72 -0.14 0.1 up down 0.06 0.16 0.26 0.26 0.17 0.01 -0.08 -0.12 -0.13 -0.04 0.06 0.13 0.11 -0.04 -0.13 up
Repeatability =0.05%
Typical specification
SENSORS
Motion sensors
These transducers measure the following variables: displacement, velocity, acceleration, force, and stress. Such measurements are used in mechanical equipment such as servo-systems, robots, and electrical drive systems. Motion sensors include the following types of devices: potentiometers, resolvers, optical encoders, variable inductance sensors (displacement), tachometers (velocity), piezoresistive sensors (strain).
POTENTIOMETER
CAPACITIVE SENSORS
II 0WL C! d
II 0W ( L X ) ! d
II 0WL C! d (
Resolver
Resolvers are used in accurate servo and robot systems to measure angular displacement. Their signal can be differentiated to obtain the velocity. The rotor is connected with the rotating object and contains a primary coil supplied by an alternating current from a source voltage vref. The stator consists of two windings separated by 90o, with induced voltages
Tachometer
The permanent magnet generates a steady and uniform magnetic field. Relative motion between the field and the rotor induces voltages, which is proportional to the speed of the rotor. The inductance gives the tachometer a certain time constant so that the tachometer cannot measure fast transient accurately.
Optical encoders
These are optical devices to measure angular displacement and angular velocity. A disk of an optical encoder is connected to the rotating shaft. The disk has patterns (holes). On one side of the disk there is a light source and on the other photo-detectors. When the disk rotates the light is going through the holes and the photo-detectors generate series of pulses. There are two types of optical encoders: incremental and absolute.
Optical encoders
The incremental encoder provides a pulse each time the shaft has rotated a defined distance. The disc of an absolute encoder has several concentric tracks, with each track having an independent light source and photo detector. With this arrangement a unique binary or Gray coded number can be produced for every shaft position.
LVDT
The two secondary coils are connected in the opposite phase. When the core is in the middle there is no output voltage. Moving the core from the central position unbalances the secondary coils, developing an output.
Vout
displacement
LVDT
Strain gauge
Strain gauge
When external forces are applied to a stationary object, stress and strain are the result. Stress is defined as
Strain gauge
Strain is defined as the amount of deformation per unit length of an object when a load is applied. Strain ( ) = L/L Typical values for strain are less than 0.005 inch/inch and are often expressed in micro-strain units: 1 strain = 10-6 strain
Strain gauge
Strain may be compressive or tensile and is typically measured by strain gages. It was Lord Kelvin who first reported in 1856 that metallic conductors subjected to mechanical strain exhibit a change in their electrical resistance. This phenomenon was first put to practical use in the 1930s.
Strain gauge
Fundamentally, all strain gages are designed to convert mechanical motion into an electronic signal. A change in capacitance, inductance, or resistance is proportional to the strain experienced by the sensor.
Strain gauge
If a wire is held under tension, it gets slightly longer and its cross-sectional area is reduced. This changes its resistance (R) in proportion to the strain sensitivity (S) of the wire's resistance. When a strain is introduced, the strain sensitivity, which is also called the gage factor (GF), is given by: GF = ( R/R)/( L/L)
Strain gauge
The ideal strain gage would change resistance only due to the deformations of the surface to which the sensor is attached. However, in real applications, temperature, material properties, the adhesive that bonds the gage to the surface, and the stability of the metal all affect the detected resistance.
Strain gauge
Because most materials do not have the same properties in all directions, a knowledge of the axial strain alone is insufficient for a complete analysis. Poisson, bending, and torsion strains also need to be measured. Each requires a different strain gage arrangement.
Strain gauge
The deformation of an object can be measured by mechanical, optical, acoustical, pneumatic, and electrical means. The earliest strain gages were mechanical devices that measured strain by measuring the change in length and comparing it to the original length of the object.
Strain gauge
The most widely used characteristic that varies in proportion to strain is electrical resistance. Although capacitance and inductance-based strain gages have been constructed, these devices' sensitivity to vibration, their mounting requirements, and circuit complexity have limited their application. The photoelectric gage uses a light beam, two fine gratings, and a photocell detector to generate an electrical current that is proportional to strain. The gage length of these devices can be as short as 1/16 inch, but they are costly and delicate.
Strain gauge
The first bonded, metallic wire-type strain gage was developed in 1938. The metallic foil-type strain gage consists of a grid of wire filament (a resistor) of approximately 0.001 in. (0.025 mm) thickness, bonded directly to the strained surface by a thin layer of epoxy resin
Strain gauge
Strain gauge
Piezoelectric Materials
Many polymers, ceramics, and molecules such as water are permanently polarized: some parts of the molecule are positively charged, while other parts of the molecule are negatively charged.
Piezoelectric Materials
When an electric field is applied to these materials, these polarized molecules will align themselves with the electric field, resulting in induced dipoles within the molecular or crystal structure of the material.
Piezoelectric Materials
Furthermore, a permanentlypolarized material such as quartz (SiO2) or barium titanate (BaTiO3) will produce an electric field when the material changes dimensions as a result of an imposed mechanical force. These materials are piezoelectric, and this phenomenon is known as the piezoelectric effect.
Piezoelectric Materials
Conversely, an applied electric field can cause a piezoelectric material to change dimensions. This phenomenon is known as electrostriction, or the reverse piezoelectric effect. Piezoelectric Effect Reverse Piezoelectric Effect