INTRODUCTION TO MECHATRONICS eel = Introduction to Mechatronics: Structure of Mechatronics system. Sensors — Characteristics — Temperature, flow, pressure sensors. . Displacement, position and proximity sensing by magnetic, optical, ultrasonic, inductive, capacitive and eddy current methods. Encoders: incremental and absolute, Stay coded encoder. Resolvers and synchros. Piezoelectric sensors. Acoustic Emission sensors. Principle and types of vibration sensors. 1. INTRODUCTION TO MECHATRONICS %& The word “Mechatronics” originated from Japanese-English. It was created by Tetsuro Mori a Japanese engineer of the “Yaskawa Electric’ Corporation”. The word “Mechatronics” was even registered as a trademark by the company in 1971, In course of time the company released the right of using the word in public, The word Mechatronics was coined by integrating Electronic controls in Mechanisms. %* Mechanism is a machine or part of a machine which by virtue of its geometry and relative motion controls or transmits or constrains the movement of other parts. For example a cam mechanism can be used as timer as shown in Fig. 1,1,Tequires specialized tooling which cannot be used for any Purpose except for manufacturing only those components. M if there were space or weight constraints in the design, then c & conventional control mechanism becomes. very challenging, Fig. 14 ——————— & As the field of Ele components shrunk in size. These ke counter, timer, winding w parts of movements of the watch hands indicating the time. Although the w engineering involved to make it is h a date of day or year or stop w in the basic design and advancement of electronic components. nic Engineering advanced the electronic sponents have control application Another example, as shown in Fig. 1.2 is and smart watch. The winding watch requires precision small size to make the mechanism which controls the does not require any power source the Even to adding funetion like atch in it involves a lot of changes subsequent tooling. All this changed with Ihe Smart watch is one § ple. It has no moving parts. It redefined the functionality of watch from just indicating time to limitless possibilities, When engineers blended the advantiges of electronic components with mechanisms the new field of Mechatronics emerged. The word is formed by taking “Mecha from mechanisms and “Tronics” from Electronics. From the French standard NF E 01-010 Mechatronics is defined as an “approach aiming at the synergistic integration of mechanies, electronics, control theory, and computer science Within product design and manufacturing, in order to improve and/or optimize its functionality”. Thus Mechatronics is (MCT) a multidiseiplinary field of engineering. It is a system which brings together combination of systems engineering, mechanical engineering, clectrical engineering, telecommunications engineering. control engineering and computer engineering EED FOR MECHATRONICS Any engineering product is the end result of many branches of technologies brought together. xy branches of Although an organisation ma: cbartmentalize the contribution of the differen technologies, the unns Between the teehnologits ilk lea instance, ter’ consider an Automobile Engine: ae4 suaet_ay engine people have sampler people inte] attery power Source, as at This led to the usage of an nformation technology He In the carly, period © cerank it, To make thik yor powered BY sana ot the function of cranking. advancement in the tt Now with the control devices, an engine by . rank Ignition. toy integrating technologies, there is. a huge adv product or system, Mechatronics is To incorporate the advantages Of ering system it i§ nec % Hence the engineering technology of integration, technology in a product or in an engines to lean on Mechatronics CONCEPTS OF MECHATRONICS APPROACH ach to solve engineering 13. ¢ Mechatronics by nature is a unified appro -reate engineesing products or make engineering ssi approach explores new possible, waits of a new technology in applications are already available. This upgrades the application. (® such @ thought possible nor considered feasible ERs has its parameters. Parameters are nothin but & measurable quantity ical enginest ite fay electrical parameters are like voltage: problems or Hence Mechatronic incorporate the advantage that it was neither x Every technolog’ For instance, in mec parameters are In the same W resistance etc ated concurrently by integrating ion is used in a creative WAY ineering problem, Although the ad 4 Technologies are integr ative informat parameters. The rel 1 or solve an engi a produc * “World” For instance, let's con theosta , wsider a Rheostat, resistor a is used to control the current low i rene 1e sliding contact called the wiper i ae sae 3 shown, Fig. 1.4. With a mecl ‘current ‘hanical slidin, i “ontrol e ot ae led. The mechanical movement is a rales ‘lectror : its and digital signals, Hence paca eae a available in the market, 1, Controtting system 2. Controlled system Controting System is the i 'o suit the applicat lication input, interpreted ae mip a thr ‘ ‘ough the planning and control he controlled system i | "mechanical of chemical » 88 per the requi Produce the desired results in mechatronies.j Hence technol CS is the ws the key coy losies interact with eon heres paraneeny of differen » thereby fusi ing. different1.4, CLASSIFICATION OF MECHATRONICS 4 Senet Based on the level of fusion let's try to classify Here two major engineering technologies are fused hence level Sof sgh 9 1 way 4 Electromechanical Engineering (Electrical and Mechanical) _ * ib “Digital Systems (Eletrcal and Computer) ly into one core system. This 4 Digital controls (Computer and Control) = concurrent es ts ‘and flexibilities of all the emerged draws the advantages which are integrated. 4 Sensor and Actuators (Mechanical and Control), Here three major engineering technologies are fused and they are: %*& = Micro-control Analog Systems” Simulation Products pect el 3 clssifion, (systems solutions is of2 Based on Mechatronics product it was clasifed Promotion of Machine Industry (JSPMD into the bi Class I: Speaicpnine aoaiiche ‘t s ity come under Class 1. Example for: numerically controlled machine or a variable speed drives, Class TI: 4% When traditional mechanical systems are upgraded with electronics then it comes under Class Il. A'modem sewing or a Digital Odometer is an apt example for that. Class TH: 4 Class Ill is systems that retain the functionality of the traditi mechanical system, but the internal mechanisms are replaced electronics. A classic example is the digital watch, Class IV: & Class IV product: electronic technologies in a synergistic way. Examy from photocopiers, to smart washing machines. 3. Based on the Behavioral characteristic of the system (a) Automated Mechatronic Systems s are designed with integrated mechanical ples include: yystem is capable of handli 2 ith its environment and is chi by self-regulation, which enables it to respond to predictable chang 22 ts environment in a pre-programmed fashion. An overwhelm majority of current mechatronic systems belong (0 this category: & An Automated mechatronic s and energy, communicating wit (b) Intelligent Mechatronic Systems ia hhatronic system is capable of ‘achieving given gat syste f uncertainty. In contrast 0 a programmed to deliver given seit intelligent systems may ‘manner. An Intelligent mec! under conditions 0 which are, by definition, pre-f and are therefore predictable, specified goals in an unpredictable * * * * Se * * * * * * * * * * * * ac * Machine vision. ‘Automation and robotics. ‘Servo-mechanics. wnsing and control systems. weg Computer-machine controls. [Expert systems. Industrial goods. Consumer products Mechatronics systems. “ Medical mechatronies, medical imaging systems. Structural dynamic systems. Transportation and vehicular systems. Mechatronics as the new language of the automobile. ‘Computer aided and integrated manufacturing systems. Computer-aided design Engineering and manufacturing systems, Bio-mechatronies, Packaging,1 Mobile apps. U8 E Engineering. Consumer products: Security camera, McTOWAVE OVEN, ex Implantdevices: Arificial cardiac Pacemaker, etc, Defense: Unmanned air, ground and underwater vehicles, jer etc. “+ + tr * Robotics: Welding robots, Material handling robots etc 4k Automotive industry: Anti-lock braking system (ABS), yi Ng seta torr R fuel injection etc. % Non-conventional vehicles: electro-bicycles, electro scooter, inna More complex safety issues. zi Bight * carriages, ete. ig tncease in component files: cauente Office equipment: copy and fax machines etc. x Increased power requirements. - ‘Computer peripherals: printers, plotters, disk drives etc. Photo and video equipment: Thermal Camera, Camcorders etc. Simulators: Car simulator, Plane simulator, etc. A system is defined as a set of interdependent or interacting components connected to form a complewintricate whole which is designed for a specific purpose. A system consists of an object which is under study, enclosed by 4 boundary to the surrounding environment. By varying the input conditions of surrounding the ‘output from the object under study is analyzed. This ; Mustated in the Fig. 17, Entertainment Industry: sound’ and illumination systems. * £°s, 83 Oe Network-centric, distributed systems. 4 Aviation, space and military applications. Advantages of Mechatronics +k Comparatively low cost without compromising quality. 4 Perform complicated and precise movements of high qualit). High relia 4 Constructive compactness of modules. ity, durability and noise immunity.Mechatronics ~ www airwalkbook im ‘System defined thus is a generalized one. Our whole universe is ‘comprised of systems performing specific functions. In engineering ‘context a system can be from simple home appliance like flat iron to ‘a complex production line. % In Mechatronics a simple example of a system is a Car. Ina cap there is the engine, transmission of motion from the engine to wheels and many other mechanical parts. There are electrical components like she batteries, lights ete. %% There are electronic control components in the stereo, brake system, fuel injection systems etc. Now a day's modem cars are equipped with navigators, automated safety devices, anti-theft devices etc. On whole a Car is product of Mechatronics. L6.1. Structure of Mechatronic system % Fig. 1.8 illustrates the structure of mechatronic system. The elements are summarized below for clarity 1, Actuators and Sensors, 2. Signals and Conditioning. i 3. Digital Logie System, Introduction to Mechatronics 4, Data Acquisition system and software. 5. Computer and display devices. 4 Process can be mechanical or chemical or any other im the mechatronic system. For understanding the elements of a mechatronic system let us consider a mechanical system. 1. Sensors + The parameters of the mechanical system like pressure, temperature, displacement etc, are sensed by the respective sensor and are converted into a signal. This signal is input to a signal conditioning unit 2, Signal Conditioning +k The signal obtained from the sensor is converted according to the requirement. Signals are of tWo types one is an analog signal and the ‘other is a digital signal, Hence there are two types of convertor DAC (Digital to Analog Convertor) and ADC (Analog to Digital Convertor). 3. Digital Logie system % This is actually the control unit where the signal is analyzed! and Proper response or feedback is given to the system. In this unit only PLC or Micro-controller or any other control circuit are there. With ‘advancements in the system this unit is imterfaced with a computer. This enables much easier control for the end user. 4. Computer Systems % In Computers data of the system is acquired by data acquisition units and stored as data logs. From this data logs one can monitor and ‘analyze the overall functioning of the system, ‘There are special data logger or other related devices which are now available with an interface to connect with & computer,115 ut Mechavronies ~ www arwaitbeokt.coy —— reqution fo Mechatronics % BMS software shows the facility's Air-condition system, CCTy iyi , When a toad is placed on the macl Electrical system, ete, With the control terminal of the BMS cont, a ili This strain gauge is strained. The, strain is converted into Foom, one can control all the integrated system of the facility. mnillivolts. This voltage signal is amplified. The amplified voltage is 1.7, MEASUREMENT SYSTEM programed by the logic units to give the analogous reading. im kilograms or pounds etc,, at the display anit. % Its essential to know the state of a system. State of the system iy determined by the Properties/Parameters of the system. In q 1.8. CONTROL SYSTEM ‘mechanical system the properties/paramet rt displacement, estas irae he venkeeeane 4 In many systems, it is not enough just to measure # parameter. It i PEM igccceam d to control the parameter. A parameter is either voltage. resistance, etc. Mechatronics systems are an integration of ee ee Ma i technologies. hence it is a must that parameters of one techt 3 ‘maintained as constant or varied in a pre-programmed way. fo control chnology is a parameter, say pressure, the following is required to be coxsidered: read by another technology. To enable that capability a Measurement system is required. A measurement system is composed of three 1 ‘components as illustrated in Fig. 1.9. To control any parameter, the first requirement is the real-time reading of the parameter. Hence the first requirement is to know the pressure level in the system under observation: to control that. 2. Once that parameter is measured, it' must be compared to = standard, After measuring the pressure of system im bars or pascals, it must be compared to a standard to know if the pressure is high or low in the system. The parameters of the systems are read by an appropriate sensor or transducer. This is in the form of a signal which can either be digital 3 i within: sr es tsa 7 7 un Ca # DAC or ADC units by the signal processor. ‘are numerous ways to control the variable purameters. % This signal processed is shown on the display screen. The display ‘A general control system is illustrated in Fig. 1.10(b). pend. ‘has the control unit which sets the limits of the Parameters of {is pre-programed as per the reading. It also stores the data in log files {in the form of readings, tables or graphs etc., as per the design: % Digital weighing machine can be considered as a simple example (0 ‘Mlustrate the above system as shown in Fig. 1.10 (a)variable is that benchmarte Tekh he system cuMpot tO KNOW if the evel Ris like when petro! is bought from ype the ammount say Re {00H in the counter. The cvemnter | ,iepensing petrol wntl i reaches Rx 100/- This Rs.100/- amount ‘i “Reference: Variable” of the System. (©) Oetpet: Bt refers to the actual response of the system as per the input fed whe gem Feedack: The cotpe! of a system is measured. This. measure is in the fore: of a signal which is fed to the control circuit. This path from the output to Se comm! uni is considered as fendback. Refer Fig 112. (@) Error: The difference between the reference variable and the cystem ouput is called coor. {@) Disturbance: These signsis which disturb the system by affecting the reference variable or other control features are considered as ‘Disturbance’. (@) Actmnting Signal: The response signal due to the error which actuates the ‘system to change the cunpat is called “Actuating Signal” (© Contrei or feed forward Elements: The components which are connected Serween coma! unit and the ourpet unit arc considered as the feed forwand eens (@) Controlled Outpat: The parameter (Pressure, Temperature, ec.) which i§ segeieed/Gaidedicontaties for the syem is called “Controlled Output”. Introduction to Mechatronics (a) Open Loop Control Syste In this system, the control parameter is simply ngulated, Just Whe fan regulator which merely regulates the speed of fan with various settings. Here the output is only regulated as per the pre-programed set up. An open loop contro! system can be illustrated as shown. in Fig. 1.1LWesshw ~ Mechatronics — www.airwalkbooks.com in Fig, 1-12, the control parameter jg This is achieved by the means of y "feedback, From the output a feedback is generated. This generated ” with the set conditions in the control system, If "signal is compared sted. To compensate the error, there is a difference, an error is general control is activated and output is varied to match the set condition This process continues till the error is nil or zero. Closed Loop Control System Fig. 1.12 +k A closed loop control system can be explained from the working principle of a compressor in an Air conditioning unit. On turing of aan AC unit, an user sets the temperature as 21°C. Now the unit must ‘maintain the room temperature to 21°C. The thermostat measures the temperature of the room and converts it to a signal. This signal is ‘compared analogously with the set temperature 21°C. If the temperature of the room is more said 26°C then the error 1S positive. This results in activating or switching on the compress! which is a key component in the AC unit for regulating te temperature, The comparison of room temperature with the 5% temperature is continuous. As soon as the temperature of the 10” drops 10 21°C the error becomes zero. Depending on the progrimint ‘of the AC unit, the compressor will be switched off. Hence compressor will cut-in or cut-off as per the fluctuations of the FO" temperature, 1.19 Introduction to Mechatronics 1.8.3, Basic terms used in Closed Loop Control System 4k Process element: {t is the element of the system which is to be controlled. It can be a room where the temperature is controlled of a tank where water level is controlled ete. 4 Measurement Element: The element which is used to measure the state of the process element is called Measurement Element. ke Reference point or Set point: It is the standard signal which is set in the system to control the output. 4 Comparison Element: This element compares the reference value £0 the measured value. The difference between them is considered as error. (Error = Reference value - Measured value) 4 Control Element: This element reads the error signal and produces a signal to correct the error. 4 Correction element: It is that element which receives a signal from the control element and makes changes in the output accordingly. 4 Controlled Variable: It is that parameter which is controlled by the control system. It is the temperature of the room which is controlled. +k Manipulated Variable: To control the output or the controlled variable there is a variable which is changed and it is called manipulated variable. For Air conditioning Compressor system Example Process Element Room Measurement Element [Thermostat Reference Point Set Cooling Temperature ‘Comparison Element Electronic control circuit (It compares the signals) ‘Control Element [Electronic control (as per the program| mnerates the signal to correct) Correction Element [Compressor on/oft switch ‘Manipulated Variable ‘Temperature of the AC unit Controlled Variable ‘Temperature of the room,Py rig 1.130) illustrates the indicator system. ‘System can malfunction, (6, Stability Stable as per the re-program condition iE ® Fig, 1.43(0) This measured level is transmitted by the Transmitter ral Level it signal naliontl fe Level cones. In the level controll there is ciate control ent which compares signal Lever stem. ignal from the ‘transmitter sy standard pre-set signal. If there is a difference it ere cert a ee value) Based 7. Response time Slow as it is manually operated 8. Output Optimization | Not possible 9, Maintenance Easy Difficult rt on the era 70. Disturbance (Chances of having a ‘open and a i level is low, then contol valve is activated Handling disturbance are limited, systems ms oh e signal filters ef 18.5. Application which use Automatic Control System n Automatic control system: 5s either pre-defined as Pet peer within the range ofthe ions which use Automatlé eA closed loop control system is a systems the control parameter i specification or set by the user as specification, Some of appl system are as follows.[Set Level point Tank Level Indicator Control System pus Bane Level Controller Contre! Element Correction Element Manipulated Variable ‘Controlled Variable Level Controller [Control valve open/close (b) Lubrication Oil cooling system 4 Lubrication is very important for engines. It not only reduces the Wet and tear, but also regulates the temperature of the ae lubricant’s mechanical properties like viscosity and density completely if its temperature crosses a certain limit, Hence iti important to maintain the temperature of the | limit in which its mechanical property remains una illustrates the Lubrication oil cooling, system. fected. Figs EM Jubricants. within th From the engine hot lubricant comes | exchanger. In the heat exchanger the hot with cold water. The cool oil goes to. the of the oil at the sump is measured by a js fed to the control valve. The control valve with set temperature. If there is difference ‘water by adjusting the Valve opening. Hence the flow tate of water changes as per the temperature of the cil in the sump. This oil is then pumped into the engine. If the lubricants temperature is beyond the limit, it means the lubricant is ‘old and has lost its mechanical property and it is time to replace with fresh stock, ¢ eee In order to safeguard the engine from entry of hot lubricant, there is 4 failsafe system in place. A thermostat measures the temperature of the lubricant entering into the engine. This temperature is compared with the set temperature range at the failsafe. If the temperature is excess, then the failsafe with trip/stop the engine. Engine failsafe system ‘Lubricant Lubrication oil cooling system Process ement Lubricant |/Méasurement Element [Temperature of lubricant Temperature of lubricant water Weter Heal Exchanger Reference Point Set temperature at valve | Set Temperature at] — i Failsafe Bpeomeerison Element | Conaol valve F i Failsafe Control E ment Control Valve Failsafe: | {Correction Eleme tement Control Valve openelose Manipulatcad Variable | Failsafe Tripper on/off JSontroiied Variabie Engine OwOff‘There are two kinds of signal which can be used in the control process. They are digital and analogue signal. ‘Analogue signal are continuous signal which varies with time. Digital signals are signals that represent a sequence of discrete values. They are illustrates in Fig. 1.16 Based on the measuring device and control element these signals have to be converted into the other, Hence we have Digital to analogue Convertor (DAC) and Analogue to Digital Convertor (ADC), Hence the control system with these convertors can be illustrated with Previous example of Shaft speed controller as shown in Fig. 1.17. Fig. 1.15 illustrates the schematic and block diagram of the & system used to control the speed of the shaft, The speed of ie is measured by the Tachogenerator. ‘The measured speed i = the Differential Amplifi:, Differential Amplifier boosts this sig compare with set speed signal by the resistance potenti is an error then accordingly a signal is given to the mowt or decrease the speed. Thus the speed of shaft which couple motor is increased or decreased to get in level with the set et aft Speed Control System Process Element Shaft Measurement Element Tachogenerator porentiomels Reference Point Set speed by resistance Differential Amplifier Differential Amplifier ‘Comparison Element Control Element ‘ontrollers, a en i Correction Element DC Motor In teat OF a plant, there Manipulated Variable DC Motor Speed becomes 58 like a produce; ations Which o Controlled Variable Shaft Speed * te inpur of secon pene ere ni Gia and in other cases the same“out in sequence. Apart from that, there is also emergency stop reset options in the washing machines. Each operation has its own control parameters and set points to conduct them. — Sk The domestic washing machine controls the openlclose of water inlet Valve. It measures and senses the water level in the drum. It ‘opensicloses the drain valve by sensing the level of the water im the rum. It also controls the temperature of the water and the speed of the drum. In all the operations all these parameters come into play. Every operatico is also timed by timer switches. In an automatic domest itt = 7 4 vestic washing machine, once it is loaded wit there are number operations machine has to perf ese They can be listed out as —— i i (a) Pre-wash: In drum @) Prewash: In tis operation, the closed washing machine drum is ft wld water by which laundry gets. soaked. ‘Then the machine spits drum genily. As per samy Bently As per the timer set by Program or by the user; tis {) Main wash: In this opera cold water is drai wash ) his operation first the her water (Temperature set by | detergent or any also the user) along with deterg agent fills the drum. Then the \s in normal Ww! * machine spins ba e by the user) to wash the ee eres laundry, As per the timer set byww airwalkboo a Introduction to Mechatronics 431 to the microprocessor So that this inodify the Tens position according Analog circuits control the lamp, heater and other power ciréuits in the machine. Digital circuits controf the digital displays, indicator lights, buttons, and switches forming the user interface. Other digital circuits include logic circuits and microprocessors which co-ordinate all of the functions in the machine, 4k Optical sensors and microswitches detect the presence or absence of Paper, its proper positioning and whether (or) not doors and latches are in their correct positions. Other sensors include encoders used to track motor rotation, Actuators include servo. and stepper motors that load and transport the paper, turn the drum and index the sorter: (©) Engine Management System Spark PUG exnaust ‘microprocessor sends sign! ‘space for the next photograph for mechatronic system. T* it, sensors, actuators, 3"! (@) Power Stroke {a Exheust Stroke Fig. 1.22: Four Stroke Spark ignition Engine132 Mechatronics ~ www.airwalkbooks, com This system is useful so manage the ignition and fuelling requirenien, ‘of the engine, Let us consider the four stroke internal combustion engine in which each cylinder has piston and connected to thy common crankshaft. We have already studied the operation of 4 stroke engine which are given here briefly ‘When the piston moves down, the inlet valve opens and air fuet mixture is sucked into the cylinder (suction stroke). When the piston ‘moves up, the inlet valve closes and the airfuel mixture is compressed, (Compression stroke). At the end of compression stroke, the spark is ‘thrown on the airfuel mixture and gets ignited. Sudden explosion takes Place and so the piston is pushed down to execute the expansion stroke. This is known as working stroke (or) power stroke. As soon a the piston reaches the bottom dead centre, it moves up again to execute exhaust stroke to send out the burnt gases. During this time, the exhaust valve is open. ‘The different pistons have their power strokes at different times to enable the common crank shaft rotate continuously. The power and speed of the engine can be controlled by changing thé ignition timing and airfuel mixture ratio, Now-a-days, the microprocessors are used for controlling ignition timing and air-fuel ratio. The important elements of microprocessor are shown in Fig. 1.23. Introduction to Mechatronics 433 + To control the airfuel mixture, the microprocessor activates: the solenoid valve to open the inlet valve according to the throttle position ‘and engine temperature as inputs, The amount of fuet injected into the ait stream are determined by an input from a sensor of mass rate of air flow and the microprocessor then gives an output to control, a fuel injection valve, 1.9. SENSORS 4 Sensors and transducers are used widely in describing measurement instruments. The usage of the word sensor is rooted from USA, whereas transducer is rooted from Europe. The meaning. of the word Sensor is “to perceive” and Transducer is “to lead aceoss” A Sensor is defined as a device that detects a change in a physical stimulus and tums it into a signal which cam be measured or recorded. A Transducer is defined as a device that transfers power from one system to. another in the same or in the different form (Strain to voltage). tk Hence a sensor by itself will sense the state of a system and a transducer with logic circuitry can be used to ascertain the same.All transducers would thus contain 2 sensor and most (though not all) sensors would also be transducers. Fig. 1.24 shows the sensing process in terms of energy conversion To control the ignition timing, the crankshaft rotates and drives the distributor, The distributor makes electrical contacts for each spark plug Input Energy / Signal PR er Fig. 1.24 in tuen and @ timing wheel. The timing wheel produces pulses as the indication of the crankshaft position. ‘The microprocessor then adjusts the timing so that at ‘right’ moments of time, the high voltage pulses are sent to the distributor, % Most of the time the output signal generated would be a voltage analogous to the input signal. It sometimes. may. be in.a wave fora whose frequency is proportional to ihe input or a. pulse train containing the information in, some other form.$Me = wr arwattook on ‘WT Mechatronics sensing the parameters of system is key function to Know the state of the system. Only by knowing/measuring the state ‘of the system appropriate control measures requirements can be ascertained. T&L Classification of Sensors % There are many ways sensors can be classified. Some of the ways are discussed .5 given here, (a) Based on the stimulus that is the response signal, sensors can be classified as per table given here, Table Lt Wave (Amplitude, Phase, Polarization), Spectrum, Wave Velocity. (Charge, Current, Potential, Voltage, Electric field amplitude, phase polarization & spectrum) [Magnetic field (amplitude, phase, polarization, |spectrum), Magnetic flux, Permeability |Wave (amplitude, phase, polarization, spectrum), Wave) city, Refractive Index, Emissivity, Reflectivity, essure, Strain, Mass, Density, Moment, Torgue, -O tion, Stiffness, Compliance, Introduction to Mechatronics 135 does not require any power source to measure the parameter of the system, Hence it is also considered as Self-generating Transducer. Passive Sensor: These sensors require external power source to function, Most of them work on the principles which are dependent ‘on electrical energy like resistance, inductance and capacitance. A simple example is digital weighing machine which uses 2 battery operated Whetstfne bridge to measure weight. The machine stops functioning when the battery is drained. (c) Based on the type of output Signal x Analog Sensors: When the signal output of a sensor is in analog form, then those sensors are called analog sensors. Analog devices produces a continuous signal which is proportional to the measured parameter. A simple example is the Bourdon tube where pressure is measured by elastic property of the tube. % Digital Sensor: When the signal output of a sensor is in digital form, then those sensors are called digital sensors. A simple example is piezoelectric transducer used measure stress by natural phenomenon piezoelectric effect. (4) Based on conversion of a parameter to an electrical parameter Primary Sensor: When a sensor’s ouput signal is in the form of electrical quantity like current, voltage etc... then they are considered as the primary sensor. Thermocouple sensor or Hall Effect sensor are typical examples of such kind of sensor. ‘Secondary Sensor: When a sensor's output signal is in any other form than electrical quantity like voltage and current, then such quantity (like displacement orestrain) aré transformed into voltage or current. The function of secondary sensor is to transform other quantities into electrical quantities like voltage or current. (@) Based on the parameter measured ‘Some of the common parameters which are measured to know the state ‘of a system are ‘® Displacement Pressure