Sensores y Actuadores

Marrugo Orozco Jos M

Vargas Ramrez Ral A

Performance Characteristics of Sensors and Actuators

Primer ejercicio

Transfer function of a position sensor. The transfer function of a small position

sensor is evaluated experimentally. The sensor is made of a very small magnet
and the position with respect to the centerline (see Figure) is sensed by the
horizontal, restoring force on the magnet. The magnet is held at
afixeddistance,h,from the ironplate.The measurement sare given in the table
below.
a. Find the linear transfer function that best fits these data.

Funcin de transferencia lineal

coe=polyfit(d,f,1);
m=coe(1); k=coe(2);
disp(['La funcion de transferencia lineal es : F= ',num2str(m),'d +
(',num2str(k),')'])

La funcion de transferencia lineal es : F= 6.3221d + 0.089038

b. Find a transfer function in the form of a second-order polynomial ( = +

+ ), where y is the displacement and f is the restoring force by
evaluating the constants a, b, and c.

Funcin de transferencia cuadrtica

coe=polyfit(d,f,2); %hallamos los coeficientes de la funcin cuadratica
a=coe(1); b=coe(2); c=coe(3);

disp(['La funcion de transferencia cuadratica es : F= ',num2str(a),'d^2 +

(',num2str(b),'d) + (',num2str(c),')'])

La funcion de transferencia cuadratica es : F= -2.3828d^2 + (7.5903d) + (0.0056924)

c. Plot the original data together with the transfer functions in (a) and (b) and
discuss the errors in the choice of approximation.

Graficando las funciones

d1=0:0.02:0.64;
f1=m*d1+k;
f2=a*d1.^2+b*d1+c;
plot(d1,f1,'-b')
hold on
plot(d1,f2,'-g',d,f,'or')
legend('LTF','NLTF','Data','location','southEast')
axis([0,0.6,0,4])
grid
title('Transfer Funtions')
xlabel('distance [mm]')
ylabel('Force [mN]')

Error
ErrorC= mean(abs((a*d.^2+b*d+c)-f)/f*100);
ErrorL= mean(abs((m*d+k)-f)/f*100);
disp(['El promedio de error de los datos con respecto a la funcion de transferencia cuadrada
es :'...
,num2str(ErrorC),'% y por su parte la lineal es : ',num2str(ErrorL),'%'])

El promedio de error de los datos con respecto a la funcion de transferencia cuadrada es

:0.098746% y por su parte la lineal es : 2.1844%

Segundo ejercicio
Loading effects on actuators. Suppose an 8 loudspeaker is driven from an
amplifier under matched conditions, meaning that the amplifiers output
impedance equals 8 . Under these conditions the amplifier transfers maximum
power to the loudspeaker. The user decides to connect a second, identical
speaker in parallel to the first to better distribute sound in the room. The amplifier
supplies an output voltage V = 48 V.
a. Show that the total power on the two speakers is lower than that
supplied to a single speaker.

Clculo para circuito en serie:

48
=3
3
1 = (3)2 8 = 72
=

Clculo para circuito con un segundo parlante

1
1 1
= +
8 8
= 4

 = (4)2 (4) = 64
Cuando colocamos un Nuevo parlante, pero conectado en paralelo al anterior,
obtenemos una salida de potencia de 64W aplicada a ambas cargas. Sin
embargo, cuando tenemos un solo parlante (Impedancia de 8 ) obtenemos
72W.
b.

If one desires to maintain the same power, what must be the impedance
of the speakers assuming they are still connected in parallel to the
amplifier?
Para mantener la misma potencia, es necesario conectar dos resistencias de
16 manteniendo la conexin en paralelo.

Tercer ejercicio
Power output of an electrical motor. The torque of a DC motor is linear with the
speed of the motor and given in Figure. Find the power transfer function of the
motor, that is, the relation between speed and power. Show that maximum
mechanical power is obtained at half the no-load speed and/or half the stall torque.

Note: Power is the product of torque and angular velocity.

Segn la grfica que nos da el problema, podemos obtener una ecuacin que
nos relacione el torque con la velocidad lineal:
0.05
() =
+ 0.05
6000
= 8,33106 + 0,05
Ahora encontramos la ecuacin de potencia que viene dada por el torque
multiplicado por la velocidad angular:
2
2
=
= (8,33106 + 0,05)
60
60
Derivamos la funcin de potencia con respecto a s e igualamos a 0 para hallar en
que valor es maxima la potencia:

2
= (16,67106 + 0,05)
=0

60
0,05
=
106 =
3000
16,67

Teniendo el valor de s donde P es maxima, comprobamos que la maxima

potencia del motor se consigue a la mitad del maximo valor de torque.
(3000) = 0,025 + 0,05 = 0,025

Cuarto ejercicio
Hysteresis in a torque sensor. A torque sensor is calibrated by applying static
torque to it (i.e., a certain torque is applied, the sensor response is measured, and
then the torque is increased or decreased to measure another point on the curve).
The following data are obtained. The first set is obtained by increasing torque, the
second by decreasing it.

a. Plot the transfer function of the torque sensor using a second-order least
squares approximation.
AT=[2.3 3.14 4 4.84 5.69 6.54 7.39 8.25 9.09 9.52 10.37 10.79];
ST1=[2.51 2.99 3.54 4.12 4.71 5.29 5.87 6.4 6.89 7.1 7.49 7.62];
ST2=[7.68 7.54 7.22 7.05 6.68 6.26 5.8 5.29 4.71 4.09 3.37 2.54];

Second-Order Least square approximation

c1=polyfit(AT,ST1,2);
c2=polyfit(fliplr(AT),ST2,2);
c3=polyfit([AT fliplr(AT)],[ST1 ST2],2);

Transfer function
AT1=2.3:0.01:10.8;
AT2=fliplr(AT1);
ST1_mc= @(A) c1(1)*A.^2+c1(2)*A+c1(3);
ST2_mc= @(A) c2(1)*A.^2+c2(2)*A+c2(3);
STI= @(A) c3(1)*A.^2+c3(2)*A+c3(3);
plot(AT1,ST1_mc(AT1),AT2,ST2_mc(AT2),AT1,STI(AT1))
legend('Increasing Torque','Decreasing Torque','Ideal Transfer
Function','location','southEast')
grid
axis([0 11 0 8])
title('Transfer Funtions: Hysterisis in a torque sensor')
xlabel('Applied Torque [N.m]')
ylabel('Sensed Torque [N.m]')

b. Calculate the maximum error due to hysteresis as a percentage of full

scale.

Calculo de Error
ve=2:0.01:10;
incre=ST1_mc(ve);
decre=ST2_mc(ve);
ideal=STI(ve);
ErrorI=100*(ideal-incre)./ideal ;
ErrorD=100*(ideal-decre)./ideal ;
max(abs(ErrorI))
max(abs(ErrorD))

ans =
5.5971
ans =
5.5971

Ambas funciones de transferencia (Torque creciente y decreciente) se obtiene un error mximo de

5.6% (Relativo a la curva Ideal de transferencia del sensor de torque).