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Showing posts with label Embedded Systems. Show all posts
Showing posts with label Embedded Systems. Show all posts

Oct 24, 2013

RTD

The following post has been taken from the web page : http://www.omega.com/temperature/z/thertd.html
Kindly acknowledge the above page and not this blog if you find the post useful. The contents have been reproduced here as a reference study material for my students.


Meyers RTD Construction



History

The same year that Seebeck made his discovery about thermoelectricity, Sir Humphrey Davy announced that the resistivity of metals showed a marked temperature dependence. Fifty years later, Sir William Siemens proffered the use of platinum as the element in a resistance thermometer. His choice proved most propitious, as platinum is used to this day as the primary element in all high-accuracy resistance thermometers. In fact, the Platinum Resistance Temperature Detector, or PRTD, is used today as an interpolation standard from the oxygen point (-182.96°C) to the antimony point (630.74°C).



Platinum is especially suited to this purpose, as it can withstand high temperatures while maintaining excellent stability. As a noble metal, it shows limited susceptibility to contamination.

The classical resistance temperature detector (RTD) construction using platinum was proposed by C.H. Meyers in 1932. He wound a helical coil of platinum on a crossed mica web and mounted the assembly inside a glass tube. This construction minimized strain on the wire while maximizing resistance.

Although this construction produces a very stable element, the thermal contact between the platinum and the measured point is quite poor. This results in a slow thermal response time. The fragility of the structure limits its use today primarily to that of a laboratory standard.

Another laboratory standard has taken the place of Meyers’ design. This is the bird-cageelement proposed by Evans and Burns. The platinum element remains largely unsupported, which allows it to move freely when expanded or contracted by temperature variations.

Strain-induced resistance changes over time and temperature are thus minimized, and the bird-cage becomes the ultimate laboratory standard. Due to the unsupported structure and subsequent susceptibility to vibration, this configuration is still a bit too fragile for industrial environments.

A more rugged construction technique is shown in Figure 37. The platinum wire is bifilar wound on a glass or ceramic bobbin. The bifilar winding reduces the effective enclosed area of the coil to minimize magnetic pickup and its related noise. Once the wire is wound onto the bobbin, the assembly is then sealed with a coating of molten glass. The sealing process assures that the RTD will maintain its integrity under extreme vibration, but it also limits the expansion of the platinum metal at high temperatures. Unless the coefficients of expansion of the platinum and the bobbin match perfectly, stress will be placed on the wire as the temperature changes, resulting in a strain-induced resistance change. This may result in a permanent change in the resistance of the wire.

There are partially supported versions of the RTD which offer a compromise between the bird-cage approach and the sealed helix. One such approach uses a platinum helix threaded through a ceramic cylinder and affixed via glass-frit. These devices will maintain excellent stability in moderately rugged vibrational applications.


TYPICAL RTD’s (FIgures 36 and 37) 

Typical RTD's - Typical RTD Probes, Thick Film Omega Film Element, Glass sealed Biflar Winding, Thin Film Omega TFD Element



Metal Film RTD’s

In the newest construction technique, a platinum or metal-glass slurry film is deposited or screened onto a small flat ceramic substrate, etched with a lasertrimming system, and sealed. The film RTD offers substantial reduction in assembly time and has the further advantage of increased resistance for a given size. Due to the manufacturing technology, the device size itself is small, which means it can respond quickly to step changes in temperature. Film RTD’s are presently less stable than their hand-made counterparts, but they are becoming more popular because of their decided advantages in size and production cost. These advantages should provide the impetus for future research needed to improve stability.

Metals - All metals produce a positive change in resistance for a positive change in temperature. This, of course, is the main function of an RTD. As we shall soon see, system error is minimized when the nominal value of the RTD resistance is large. This implies a metal wire with a high resistivity. The lower the resistivity of the metal, the more material we will have to use.

Table 6 lists the resistivities of common RTD materials.
METALRESISTIVITY OHM/CMF
(cmf = circular mil foot)


Gold
Silver
Copper
Platinum
Tungsten 
Nickel
Au
Ag
Cu
Pt
w
Ni
13.00
8.8
9.26
59.00
30.00
36.00

Table 6


Because of their lower resistivities, gold and silver are rarely used as RTD elements. Tungsten has a relatively high resistivity, but is reserved for very high temperature applications because it is extremely brittle and difficult to work.

Copper is used occasionally as an RTD element. Its low resistivity forces the element to be longer than a platinum element, but its linearity and very low cost make it an economical alternative. Its upper temperature limit is only about 120ºC.

The most common RTD’s are made of either platinum, nickel, or nickel alloys. The economical nickel derivative wires are used over a limited temperature range. They are quite non-linear and tend to drift with time. For measurement integrity, platinum is the obvious choice.


Resistance Measurement

The common values of resistance for a platinum RTD range from 10 ohms for the bird-cage model to several thousand ohms for the film RTD. The single most common value is 100 ohms at 0ºC. The DIN 43760 standard temperature coefficient of platinum wire is α = .00385. For a 100 ohm wire, this corresponds to + 0.385 ohms/ºC at 0ºC. This value for α is actually the average slope from 0ºC to 100ºC. The more chemically pure platinum wire used in platinum resistance standards has an α of +.00392 ohms/ohm/ºC.

Both the slope and the absolute value are small numbers, especially when we consider the fact that the measurement wires leading to the sensor may be several ohms or even tens of ohms. A small lead impedance can contribute a significant error to our temperature measurement.
EFFECT OF LEAD RESISTANCE


A ten ohm lead impedance implies 10/.385 ≈ 26ºC error in measurement. Even the temperature coefficient of the lead wire can contribute a measurable error. The classical method of avoiding this problem has been the use of a bridge.
WHEATSTONE BRIDGE


The bridge output voltage is an indirect indication of the RTD resistance. The bridge requires four connection wires, an external source, and three resistors that have a zero temperature coefficient. To avoid subjecting the three bridge-completion resistors to the same temperature as the RTD, the RTD is separated from the bridge by a pair of extension wires:
Figure 40


These extension wires recreate the problem that we had initially: The impedance of the extension wires affects the temperature reading. This effect can be minimized by using a three-wire bridge configuration:
3-WIRE BRIDGE


If wires A and B are perfectly matched in length, their impedance effects will cancel because each is in an opposite leg of the bridge. The third wire, C, acts as a sense lead and carries no current.

The Wheatstone bridge shown in Figure 41 creates a non-linear relationship between resistance change and bridge output voltage change. This compounds the already non-linear temperature-resistance characteristic of the RTD by requiring an additional equation to convert bridge output voltage to equivalent RTD impedance.

4-Wire Ohms - The technique of using a current source along with a remotely sensed digital voltmeter alleviates many problems associated with the bridge.
4-WIRE OHMS MEASUREMENT


The output voltage read by the dvm is directly portional to RTD resistance, so only one conversion equation is necessary. The three bridge-completion resistors are replaced by one reference resistor. The digital voltmeter measures only the voltage dropped across the RTD and is insensitive to the length of the lead wires.

The one disadvantage of using 4-wire ohms is that we need one more extension wire than the 3-wire bridge. This is a small price to pay if we are at all concerned with the accuracy of the temperature measurement.
Figure 43


3-Wire Bridge Measurement Errors

If we know VS and VO, we can find Rg and then solve for temperature. The unbalance voltage Vo of a bridge built with R1 = R2 is:



If Rg = R3, VO= 0 and the bridge is balanced. This can be done manually, but if we don’t want to do a manual bridge balance, we can just solve for Rg in terms of VO:



This expression assumes the lead resistance is zero. If Rg is located some distance from the bridge in a 3-wire configuration, the lead resistance RL will appear in series with both Rg and R3:
Figure 44


Again we solve for Rg:



The error term will be small if Vo is small, i.e., the bridge is close to balance. This circuit works well with devices like strain gauges, which change resistance value by only a few percent, but an RTD changes resistance dramatically with temperature. Assume the RTD resistance is 200 ohms and the bridge is designed for 100 ohms:
Figure 45


Since we don’t know the value of RL, we must use equation (a), so we get:



The correct answer is of course 200 ohms. That’s a temperature error of about 2.5ºC.

Unless you can actually measure the resistance of RL or balance the bridge, the basic 3-wire technique is not an accurate method for measuring absolute temperature with an RTD. A better approach is to use a 4-wire technique.

Resistance to Temperature Conversion

The RTD is a more linear device than the thermocouple, but it still requires curve-fitting. The Callendar-Van Dusen equation has been used for years to approximate the RTD curve:



Where:

RT=Resistance at Temperature T
Ro=Resistance at T = 0ºC
α=Temperature coefficient at T = 0ºC ((typically +0.00392Ω/Ω/ºC))
δ=1.49 (typical value for .00392 platinum)
β=0    T > 0
0. 11    (typical) T < 0


The exact values for coefficients α , β, and δ are determined by testing the RTD at four temperatures and solving the resultant equations. This familiar equation was replaced in 1968 by a 20th order polynomial in order to provide a more accurate curve fit. The plot of this equation shows the RTD to be a more linear device than the thermocouple.

Oct 18, 2011

Servomotors

This post has been taken from http://www.engineersgarage.com/articles/servo-motor and is meant to be used by students. Kindly acknowledge engineersgarage, in case you find this information useful. Kindly acknowledge the above source and not this blog. The material has been presented here to serve as learning material for my students. No commercial activity is involved.



What are Servo Motors?
Servo refers to an error sensing feedback control which is used to correct the performance of a system. Servo or RC Servo Motors are DC motors equipped with a servo mechanism for precise control of angular position. The RC servo motors usually have a rotation limit from 90° to 180°. Some servos also have rotation limit of 360° or more. But servos do not rotate continually. Their rotation is restricted in between the fixed angles.
Where are Servos used?
The Servos are used for precision positioning. They are used in robotic arms and legs, sensor scanners and in RC toys like RC helicopter, airplanes and cars.
Servo Motor manufacturers
There are four major manufacturers of servo motors: Futaba, Hitec, Airtronics and JR radios. Futaba and Hitec servos have nowadays dominated the market. Their servos are same except some interfacing differences like the wire colors, connector type, spline etc.


Servo Motor wiring and plugs
The Servo Motors come with three wires or leads. Two of these wires are to provide ground and positive supply to the servo DC motor. The third wire is for the control signal. These wires of a servo motor are color coded. The red wire is the DC supply lead and must be connected to a DC voltage supply in the range of 4.8 V to 6V. The black wire is to provide ground. The color for the third wire (to provide control signal) varies for different manufacturers. It can be yellow (in case of Hitec), white (in case of Futaba), brown etc.
Futaba provides a J-type plug with an extra flange for proper connection of the servo. Hitec has an S-type connector. A Futaba connector can be used with a Hitec servo by clipping of the extra flange. Also a Hitec connector can be used with a Futaba servo just by filing off the extra width so that it fits in well.


Hitec splines have 24 teeth while Futaba splines are of 25 teeth. Therefore splines made for one servo type cannot be used with another. Spline is the place where a servo arm is connected. It is analogous to the shaft of a common DC motor.

Unlike DC motors, reversing the ground and positive supply connections does not change the direction (of rotation) of a servo. This may, in fact, damage the servo motor. That is why it is important to properly account for the order of wires in a servo motor.
Servo Control
The servo motor can be moved to a desired angular position by sending PWM (pulse width modulated) signals on the control wire. The servo understands the language of pulse position modulation. A pulse of width varying from 1 millisecond to 2 milliseconds in a repeated time frame is sent to the servo for around 50 times in a second. The width of the pulse determines the angular position.
For example, a pulse of 1 millisecond moves the servo towards 0°, while a 2 milliseconds wide pulse would take it to 180°. The pulse width for in between angular positions can be interpolated accordingly. Thus a pulse of width 1.5 milliseconds will shift the servo to 90°.
It must be noted that these values are only the approximations. The actual behavior of the servos differs based on their manufacturer.
A sequence of such pulses (50 in one second) is required to be passed to the servo to sustain a particular angular position. When the servo receives a pulse, it can retain the corresponding angular position for next 20 milliseconds. So a pulse in every 20 millisecond time frame must be fed to the servo.

Inside a Servo Motor

A servo motor mainly consists of a DC motor, gear system, a position sensor which is mostly a potentiometer, and control electronics.
The DC motor is connected with a gear mechanism which provides feedback to a position sensor which is mostly a potentiometer. From the gear box, the output of the motor is delivered via servo spline to the servo arm. The potentiometer changes position corresponding to the current position of the motor. So the change in resistance produces an equivalent change in voltage from the potentiometer. A pulse width modulated signal is fed through the control wire. The pulse width is converted into an equivalent voltage that is compared with that of signal from the potentiometer in an error amplifier.
The difference signal is amplified and provided to the DC motor. So the signal applied to the DC servo motor is a damping wave which diminishes as the desired position is attained by the motor.
When the difference between the desired position as indicated by the pulse train and current position is large, motor moves fast. When the same difference is less, the motor moves slow.
The required pulse train for controlling the servo motor can be generated by a timer IC such as 555 or a microcontroller can be programmed to generate the required waveform. Refer Servo Motor interfacing with 8051 microcontroller and Servo control using AVR ATmega16.
Power supply for Servo
The servo requires a DC supply of 4.8 V to 6 V. For a specific servo, its voltage rating is given as one of its specification by the manufacturer. The DC supply can be given through a battery or a regulator. The battery voltage must be closer to the operating voltage of the servo. This will reduce the wastage of power as thermal radiation. A switched regulator can be used as the supply for better power efficiency.
Selection of a Servo
The typical specifications of servo motors are torque, speed, weight, dimensions, motor type and bearing type. The motor type can be of 3 poles or 5 poles. The pole refers to the permanent magnets that are attached with the electromagnets. 5 pole servos are better than 3 pole motor because they provide better torque.
The servos are manufactured with different torque and speed ratings. The torque is the force applied by the motor to drive the servo arm. Speed is the measure that gives the estimate that how fast the servo attains a position. A manufacturer may compromise torque over speed or speed over torque in different models. The servos with better torque must be preferred.
The weight and dimensions are directly proportional to the torque. Obviously, the servo having more torque will also have larger dimensions and weight. The selection of a servo can be made according to the torque and speed requirements of the application. The weight and dimension may also play a vital role in optimizing the selection such as when a servo is needed for making an RC airplane or helicopter.
The website of the manufacturers can be seen to obtain details about different models of the servos. Also their product catalogue can be referred to. Some manufacturers like Futaba also provide online calculator for the selection of a servo.
Interference and Noise Signal
The PWM signal is given to the servo by the control wire. The noise or interference signals from the surrounding electronics or other servos can cause positional errors. To eliminate this problem the control signals are supplied after amplification. This will suppress the noise and interference signals.
Servo Modification for full Rotation
One may want to use the servo for his robot applications and desire to move the servo continually. This is possible by a little modification. The servo gear box has a mechanical stop which avoids the servo to make full rotation. File off the mechanical stop(s) so that the gear box is free to make a complete rotation.
But this is not the only sufficient thing. The servo works on a feedback mechanism. So the pot of the servo must be first moved to the centre position. This can be done by sending medium pulses to the servo by a microcontroller. Then fix the gears attached to the pot shaft with glue. This will keep an impression to the control electronics of the servo that the current position is the middle point. So the servo would then move with respect to the middle position and not to the current position.