Lect 2 Sensor Technology

Faculty of Engineering and
Materials Science
Sensor Technology
ELCT 903
Lecture # 2
Static characteristics for sensor design
Sept. 16th, 2017
Dr. Amir R. Ali

Assist. Prof. of Mechatronics Engineering
amir.ali@guc.edu.eg
C7.108
Sensor Technology Lecture # 2
Lecture # 2
Static characteristics for sensor design
Contents
Static Characteristics of Sensor
Mathematical Modeling Representations
At the end of this lecture the student will know

The sensitivity, resolution, Q-factor, Hysteresis and
bandwidth
Transfer function and the ODE describing the sensing
systems
Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (2)
Sensor Technology (Part 1 of 2) Static Characteristics of Sensor
What is the static characteristics?

The sensor performance can be examined by two ways,
1. When steady or constant input signals are applied, comparison of the
steady output with the ideal case gives the static performance of the
system
2. When changing input signals are applied, comparison with the ideal
case gives the dynamic performance of the systems
Quality Mechanical Electrical Accuracy

factor System System
Sensing
systems Precision
Sensitivity
Repeatability
Optical
Resolution System
Hysteresis
bandwidth Range
What is the static characteristics?

The sensor performance can be examined by two ways,
1. When steady or constant input signals are applied, comparison of the
steady output with the ideal case gives the static performance of the
system
2. When changing input signals are applied, comparison with the ideal
case gives the dynamic performance of the systems
Dynamic Static
Characteristics Characteristics
at Transient conditions at Steady conditions

Equation of motion Lecture (1)

Sensitivity:
Static sensitivity is defined as (Mathematical model)
the ratio of the change in output Differential equations
Transfer function
of the corresponding change in Check the
So we need the T.F.
input under static or steady- for the DESIGN
static
state conditions perspective characteristics
o
Static sensitivit y K
i Check the
dynamic
o the change in output characteristics
i the corresponding change in input Zero order system
Sensitivity may have a wide of units, depending First order system
Second order system
on the measuring system being considered.

Sensitivity:
(Mathematical model)
o
Static sensitivit y K Differential equations
i Transfer function
Check the
static
Linear relation Non-linear relation characteristics
Output o Output o
o Check the
dynamic
o i
Sensitivity will characteristics
Sensitivity o
i equals to the vary according to Zero order system
slope of the i the value of the First order system
output
calibration graph Second order system
Input i Input i

Sensitivity:
o
Static sensitivit y K Differential equations
i Transfer function
Check the
Mech. Optical etc static
i 1 2 o characteristics
System1 System2 System3
1 2 o Check the
K1 K2 K3 dynamic
i 1 2 characteristics
i o Zero order system
Ktotal K1K 2 K3 First order system
Second order system

Sensitivity:
i
Mech. 1
Optical 2
etc o
System1 System2 System3
1 2 o
K1 K2 K3
i 1 2
i o
u y Ktotal K1K 2 K3
G ( s, )
G
Percentage of change in G
Sensitivit y S
G
G
Percentage of change in

G G
S
G
S
G
G G
Example# 1
Given G( s)
1 sC
Find the sensitivity
of G w.r.to C? Resistor Capacitor
Solution (changed parameter)
G S
G c

1

S
G
c
1 C 1 sC
G 1 sC
c 0 s 1
Sc
G

1 1 sC 2
1 sC
sc
Sc
G
1 sC
sc Laplace variable
S
G
s j
c
1 sc
At steady state analysis
s j
jc
Capacitor sensitivity is
S
G
Sensitivit y is f()
1 jc
function in the frequency c
for DC level for higher frequency level

jc jc
S
G
0 S
G
1
1 jc 0 1 jc
c c
Capacitor sensitivity 0 % Capacitor sensitivity 100 %

Sensitivity: Very Important Note:
It is common to find system elements that have
o inputs and outputs of the same form
Static sensitivit y K
i V0 V1
Voltage Amplifier
In mechanical systems using lever system it is more
V1 In this case the
usual to use the term magnification to describe the K term gain, or
increase in displacement V0 voltage gain is
used rather than
The terms sensitivity, gain and magnification all mean the same
sensitivity
5m
Sensitivit y 1
0.0025m / Vm 1
2000Vm
Tip deflection, (m)

System response
E-Field, (kV/m)
2 10
0 0
0 1 2 3
-2 -10
Time, (s)
Sensitivity: Equilibrium Optical cavities could be model as mechanical
system
position
Input force
At t = F Fo sin(t )
m
0s
At t = 2,500 5
m
(pm)
0.5s 2,000 4
1,500 3
(V/m)
E-Field, [V/m]
Sphere deflection,
At t = 1,000 2
m
d, [pm]
500 1
1s
E-Field,
0 0
-500 0.0 0.5 1.0 1.5 2.0 2.5 -1
At t = -1,000 -2
1.5s m -1,500 -3
-2,000 -4
-2,500 -5
At t = Time, [s]
m
2s 4 pm
Sensitivit y 1
0.002 pm / Vm 1
2000Vm

Sensitivity:
WGM shifts External electric field
0.6 6
0.6 6
0.4
[kV/m]
0.4 4
field,EE[kV/m]
[pm]
4
[pm]
0.2
0.2 2
2
shift,
0
0 0
Electricfield,
WGMshift,
-0.2 0
-0.2
-2
-0.4 -2
Electric
WGM
-0.4
-0.6 -4
-0.6 -4
-0.8 -6
-0.8 -6
0 0.5 1 1.5 2 2.5
0 0.5 1 1.5 2 2.5
Time, [s]
WGM shifts Time, [s]
External electric field
Electric field, E [kV/m]

60 6
WGM shift, [pm]
40 4
20 2
0 0
-20 -2
-40 -4
-60 -6
0 0.5 1 1.5 2 2.5
Time, [s]
Sensitivity:
0.6 6
Case (II) : Sphere only
0.4

4
WGM shift, [pm]
0.2 0.5 pm
2 Sensitivit y 1
0.0001 pm / Vm 1
0 5000Vm
0
-0.2
-2
-0.4
-0.6 -4
-0.8 -6
0 0.5 1 1.5 2 2.5
WGM shifts Time, [s]
External electric field
Case (II) : Sphere + Beam
60 6
WGM shift, [pm]
40 4
50 pm 1
20 2 Sensitivit y 0.01 pm / Vm
5000Vm 1
0 0
-20 -2 In mechanical systems using lever
-40 -4 system it is more usual to use the
-60 -6
term magnification to describe the
0 0.5 1 1.5 2 2.5 increase in displacement
Time, [s]
Resolution:
The smallest change of input to an instrument which can be
detected. Its unit would be the same units of the input.
Resolution = (Sensitivity) -1 (Standard deviation)
Output o
Experimental
sensor data
best fit of the data
using least squares
method
y a bx
Calibration graph Input i
Resolution: Resolution = (Sensitivity) -1 (Standard deviation)

Output o Linear model
d7
d8
d5
d6
(x1 ,y1) d
3
y a b x
d4 y intercept? slopesensitivity
y1 d1 d2 y b x
a
y n n
d i yi a bxi Calibration graph Input i

y
d12 d 22 d 32 ... d n2

n 1

Resolution: Response Curves Calibration Curves d, [pm]

4
3
2,500 5 |d/dE| = 0.0017 pm/Vm -1
2,000 4 2 = 0.34 pm
= 0.34 pm
1,500 3 1
E-Field, [V/m]
1,000 2 E, [V/m]
0
d, [pm]
500 1
-3000 -2000 -1000 0 1000 2000 3000
0 0 -1
-500 0.0 0.5 1.0 1.5 2.0 2.5 -1 E-field resolution
200 V/m -2
-1,000 -2
-1,500 -3 -3
-2,000 -4 -4
-2,500 -5
Time, [s] E-field resolution ~ 200 V/m
= 600 m x10-3
2.0
|d/dE| , [pm/Vm-1] Bandwidth

1.5
1.0
0.5
0.0
0 200 400 600 800 1000
E-field frequency, [Hz]
Resolution: Response Curves Calibration Curves

d, [pm]
15 0.4 0.4
0.3 0.3
10 |d/dE|=0.027 pm/Vm-1
0.2 =0.04 pm
0.2 = 0.04 pm
5 0.1
E-Field, [V/m]
0.1 E, [V/m]
d,[pm]
0
0 0 -15 -10 -5 0 5 10 15
0 2 4 6 8 10 12 -0.1
-0.1
-5 E-field resolution -0.2
-0.2 1 V/m
-0.3
-10
-0.3 -0.4
-15 -0.4
Time, [s] E-field resolution ~ 1 V/m
= 500 m 3.0
x10-2
|d/dE| , [pm/Vm-1]
2.5
2.0 Bandwidth
1.5
1.0
0.5
0.0
0 10 20 30 40 50
Sensor Technology Mathematical Representation
1. Transfer Function Representations u(t) H(S) y(t)

1.1. for Mechanical Sensing systems Laplace fn
O / P Y (S )
Laplace domain=S-domain=Laplace transform H (S ) i .c 0
I / P U (S )
Properties:
{x(t )} X ( S )
dx(t )
SX ( S )
X (0) SX ( S )
dt i . c . 0
d 2 x(t )
2
S 2
X ( S ) SX ( 0 ) X ( 0) S 2
X (S )

dt i . c . 0

Example# x(t)
Find the transfer function
F
for the system shown in the
figure, where F is the input
and the x is the output
Solution The physical laws or the governing equation mi ai F i
mx f spring f damper f external

In t- domain
mx kx bt x F
In S-domain mS 2 X (S ) kX (S ) bt SX (S ) F (S )
(S 2 m Sbt k ) X (S ) F (S )
X (S ) 1 Second
H (S ) 2 order
F ( S ) ( S m Sbt k ) system
Example# x2 x1
2 1
X 2 (S ) F
Find H ( S ) 2
2
1
1
F (S )
Solution
For mass 1 (m1) mi ai Fi
m1x1 f k1 f 1 F
In t- domain
m1x1 k1 ( x1 x2 ) 1 x1 F
In S-domain m1S 2 X1 (S ) k1 X1 (S ) k1 X 2 (S ) 1SX1 (S ) F (S )
F (S ) (m1S 1S k1 ) X1 (S ) k1 X 2 (S )
2
1
?
I/P O/P
Needs to be a f(x2)
x2 x1
2 1
2 1
F
2 1
For mass 2 (m2) mi ai Fi

m2 x2 f k2 f k1 f 2
In t- domain
m2 x2 k2 x2 k1 ( x2 x1 ) 2 x2
In S-domain
m2 S 2 X 2 (S ) k2 X 2 (S ) k1 X 2 (S ) k1 X1 (S ) 2 SX 2 (S )
m2 S 2 X 2 (S ) k2 X 2 (S ) k1 X 2 (S ) k1 X1 (S ) 2 SX 2 (S ) 0
Remember: x1 needs to be a f(x2)
(m2 S 2 k2 k1 2 S ) X 2 (S ) k1 X1 (S ) 2
x2 x1
2 1
2 1
F
2 1
F (S ) (m1S 2 1S k1 ) X1 (S ) k1 X 2 (S ) 1
I/P O/P
(m2 S 2 k2 k1 2 S ) X 2 (S ) k1 X1 (S ) 2
(m1S 2 1S k1 ) (m2 S 2 k2 k1 2 S ) X 2 ( S )
F (S ) k1 X 2 ( S )
1 k1
1
F ( S ) (m1S 1S k1 )(m2 S k2 k1 2 S ) k1 X 2 ( S )
2 2
k1
x2 x1
2 1
2 1
F
2 1
X 2 (S ) 1
H (S )
F ( S ) (m S 2 S k )(m S 2 k k S ) 1 k
1 1 1 2 2 1 2 1
k1
X 2 (S ) k1
H (S )
F ( S ) (m1S 2 1S k1 )(m2 S 2 k2 k1 2 S ) k12
Fourth order
system

1. Transfer Function Representations

1.2. for Electrical Sensing systems
RLC circuit
Element Symbol Impedance Z
Resistance R 1
L LS
Inductance If L=2, ZL=2S
c 1/CS
Capacitance If c=2, Zc=1/2S

n1 2 n2
Example#
v1 v2 +
Current source 1 1 y(t)
1 2
u(t)
-
Y (S )
Find H ( S ) for the low pass filter shown in the figure
U (S )
Solution:
Step 1: Get the reference node, most probably (the Ground)
Step 2: Specify how many nodes that you have in your circuit, here is
just two nodes (n1) & (n2)
Step 3: apply KCL on each node

U(S) n1 I 1 2 n2
+
I3 I2 v1 I4 v2
1 2
u(t)
-
Step 3: apply KCL on (n1) USING S-DOMAIN ZL

U(S) n 1 I1
2S
U
( s ) I1 ( S ) I 2 ( S ) I 3 ( S ) I3
current
source v1 v2 v1 v1
U ( s )
ZL

Z R Zc
ZR 1 1
S
Zc
current
source
Needs to be a f(v2) O/P ? Y (S )
?v v H (S )
v1 ? Sv1 U (S )
I/P U
( s ) 1 2
1
current
2S 1 1
source
U(S) n1 I 1 2 n2
+
I3 I2 v1 I4 v2
1 2
u(t)
-
Node(n2) [as a Voltage divider]

v1
ZR 1
v2 v1 v2 2 v
ZL ZR 1 2S ZL
2S 1
2
1 v2
v2
4S 1
v1 2 1
ZR
2
v1 v2 (4S 1)

U(S) n1 I 1 2 n2
+
I3 I2 v1 I4 v2
1 2
u(t)
-
v1 v2 v1 Sv1
U
( s)
current
2S 1 1 1 v1 v2 (4S 1) 2
source
From 2 into 1 we get

v2 (4S 1) v2 v2 (4S 1) Sv2 (4S 1)
U (S )
2S 1 1
(4S 1) 1
U (S ) (4S 1) S (4S 1)v2
2S
v2 y(t )
(4S 1) 1
U (S ) (4S 1) S (4S 1)Y ( S )
2S
(4S 1) 1 (8S 2 2S ) S (8S 2 2S )

U (S ) Y ( S )
2S
4 S 8S 2 2 S 8S 3 2 S 2
U (S ) Y ( S )
2S
U (S ) (4S 2 5S 3)Y (S )
Y (S ) 1
H (S )
U ( S ) (4S 5S 3)
2

Hysteresis :
The hysteresis is an error of a sensor, which is defined as the maximum
difference in output at any measurement value within the sensors specified
range when approaching the point first with increasing and then with
decreasing the input parameter.
(pm)
Irreversible 60
40
|d/dE|=0.009pm/Vm-1
process 20
E-field (V/m)
0
-6000 -4000 -2000 0 2000 4000 6000
Downscale -20
calibration -40
-60
Compression and
decompression
Upscale
calibration
Or
Loading and
unloading

Hysteresis : Some sensors do not return to the same output value when
the input stimulus is cycled up or down. The width of the
expected error in terms of the measured quantity is defined
as the hysteresis.
Irreversible
process
Downscale he yupscale ydownscale x x
calibration min point
he(max)
% Hysteresis error 100
FSR
Upscale
calibration

Hysteresis : Response Curves Calibration Curves
15 0.4 d, [pm]
0.4
0.3
10 0.3
0.2 |d/dE|=0.027 pm/Vm-1
0.2 =0.04 pm
5 = 0.04 pm
E-Field, [V/m]
0.1 0.1
d,[pm]
E, [V/m]
0 0 0
0 2 4 6 8 10 12
-15 -10 -5 0 5 10 15
-0.1 -0.1
-5
-0.2 E-field resolution -0.2
-10 1 V/m
-0.3 -0.3
-0.4
-15 -0.4
Time, [s]
(pm)

60 6
WGM shift, [pm]
60
40 4
40
|d/dE|=0.009pm/Vm-1
20 2
20
0 0 0
E-field (V/m)
-6000 -4000 -2000 0 2000 4000 6000

-20 -2 -20
-40 -4 -40
-60 -6 -60
0 0.5 1 1.5 2 2.5
Time, [s]
Hysteresis : It can help in re-model your sensor design
Total
Total Hysteresis
Hysteresis
General hysteresis Hysteresis of non-linear curves

Midpoint location
(Xmn, Ymn)
X max X min
(Xmax, Ymax)
Xm X min
(Xmp, Ymp)
2
Hysteresis calculation
(Xmin, Ymin)
Xm Reversible
Hysteresis%
Ymn Ymp
100%
process
Definition of points
0%
Ymax Ymin
Quality factor (Q-factor)

The Quality Factor (Q) is way to quickly characterize the shape of the
peak in the response. It gives a quantitative representation of power
dissipation in an oscillation.
fc fc
Q
f 2 f1 f
The higher the Q, the
narrower and 'sharper'
the peak is.
Resonance Line-width


Energy stored fc
Q 2
Energy dissipated per cycle f
Pendulum Pendulum
oscillating in air oscillating in oil
Pendulums with high quality factors have low damping so that they
oscillate longer

Energy stored fc
Q 2
Energy dissipated per cycle f
Pendulum Pendulum
Q1 Q2 oscillating in oil
oscillating in air
Q1 Q2
Amplitude
Frequency
Pendulums with high quality factors have low damping so that they
oscillate longer

I. Mechanical Resonator

2
n km
Q
mx cx kx 0 c
k n
n
m


Resistance can change the Q-
factor II. Electrical Resonator
Any perturbation for the L or
C it could be used as a sensor
1
0
LC

2
0 0 L
Q
R

Types of resonators (oscillators)

I. Mechanical II. Electrical III. Optical
Resonator Resonator Resonator
Q factor 10 2
Q factor 102 Q factor 109
Transmission intensity, [arb. units]

Wavelength, [m]
Mass-spring-damper Fabry-Perot cavities

system

Bandwidth:
All sensors have finite response times to an instantaneous change
in physical signal.
x10-2
3.0
|d/dE| , [pm/Vm-1]
2.5
2.0 E-field is 5kV/m
1.5
1.0
0.5
0.0
0 10 20 30 40 50
E-field frequency, [Hz] BW
0.012
d/dE , [pm/Vm-1]
0.010
0.008 E-field is 5kV/m
0.006
0.004
0.002
0.000
0 200 400 600 800 1000

Bandwidth:
All sensors have finite response times to an instantaneous change
in physical signal.
At high Q-factor, the

bandwidth is almost the
natural frequency
BW
Transmission intensity, [arb. units]
Wavelength, [m]

1. Differential Equations Mechanical system

o Linear
x(t)
F o Rotational
Note that: No. of equations = No. of
Masses = No. of DOF
The Second Law gives us an exact relationship between force, mass, and
acceleration. It can be expressed as a mathematical equation:
m a F
mi is the mass
ai is the acceleration Single degree of
i i i Fi the force freedom
Element Force Sign

Spring FS=kx=(stiffness)(displacement) Negative sign (-ve)
.
Damper FD=btx=(damping coefficient )(velocity) Negative sign (-ve)
External Fext=F (Forced) or 0 (Free) Positive sign (+ve)
force
Single degree of freedom Mechanical system

Physical system o Linear motion
x(t)
F The physical laws or the governing equation
mi ai Fi
By using the
mx f spring f damper f external
previous
table mx kx bt x F
Equation of
motion mx bt x kx F
Equation of motion

Physical system
The physical laws or the
Two degrees of freedom
governing equation
mi ai Fi
By using the previous table

For mass 1 (m1) m1x1 f k1 f k2 f c
m1x1 k1 x1 k2 x1 x2 cx1 x2
m1x1 k1 x1 k2 x1 k2 x2 cx1 cx2 0

m1x1 k1 k2 x1 k2 x2 cx1 cx2 0
Equation of
motion for m1
m1x1 cx1 cx2 k1 k2 x1 k2 x2 0 1
Physical system
governing equation
mi ai Fi
By using the previous table

For mass 2 (m2) m2 x2 f k2 f k3 f c f external
m2 x2 k2 x2 x1 k3 x2 cx2 x1 F (t )
m2 x2 k2 x2 k2 x1 k3 x2 cx2 cx1 F (t )
Equation of m2 x2 k2 k3 x2 k2 x1 cx2 cx1 F (t )

motion for m2
m2 x2 cx1 cx2 k2 x1 k2 k3 x2 F (t ) 2
Physical system
governing equation
mi ai Fi
m1x1 cx1 cx2 k1 k2 x1 k2 x2 0 1

m2 x2 cx1 cx2 k2 x1 k2 k3 x2 F (t ) 2
Now, equations (1) and (2) can be arranged in the following matrix form:
m1 0 x1 c c x1 k1 k2 k2 x1 0
0 m x c c x k
k2 k3 x2 F (t )
2 2 2 2
Equation of motion (Mathematical model)

Plus the static deflection

k mg
Start End
x
mi ai Fi
F
By using the
mx f spring f damper f external f gravity
previous
table mx k ( x) cx F mg
Static deflection k mg
Equation of
mx k kx cx F mg
motion mx cx kx F
Stiffness of the rod Ftang.

Mechanical system
o Rotational T

S F
The governing equation R T
J T
Where T is the torque, J is the M.O.I., =d2/dt2 should be in rad/s
Element Force Sign

Rod TS=S=(stiffness)(angular disp.) Negative sign (-ve)
Rotational TD=f=(damping coefficient )(angular Negative sign (-ve)
viscous vel.)
External Text=T or 0 (Free) Positive sign (+ve)

Torque
Note that: No. of equations = No. of Disks= No. of DOF
Electrical system
i0 Op Amp
v1 v0
v1 v2
High
i0 v2 i0
Element Symbol Volt Current

Resistance v
i v iR i
R R
di 1 t
Inductance vL i vd
i
L dt L 0
1 t dv
Capacitance v id ic
i
c c 0 dt
Electrical system The governing formulation

Kirchhoff current law (KCL)
Algebraic summation of all currents to a node is equal to zero
i2 i1 i1 i2 i3
i3 i2 i3 i1 0
Kirchhoff voltage law (KVL)
Algebraic summation of all voltages around a loop is equal to zero
v1
5V v1 v2
5V v2
v1 v2 5V 0
c1
Example#
Write the deferential v2 R2 v1
equation for the circuit +
Current source
shown in the figure. y(t) c2 L1 R1 u(t)
O/P I/P
-
Solution - Ve
Step 2: Specify how many nodes that you have in your circuit,
here is just two nodes (v1 &v2)
Note that: No. of equations = No. of Nodes

c1
v2 R2 v1
+
Current source
y(t) c2 L1 R1 u(t)
O/P I/P
-
- Ve
For Node (v1): u(t ) I R1 I L1 I R2 I C1

v1 1 t v1 v2 d
u (t ) v1d c1 (v1 v2 )
R1 L 0 R2 dt
For Node (v2): I c1 I R2 I C2
d v1 v2 d
c1 (v1 v2 ) c2 v2
dt R2 dt

Example# c2
Write the deferential R2

equation for the circuit R v
shown in the figure. + +
v1 v y
- -
Solution c1
R1
We have two nodes, so we have
two equations - Ve
Step 2: Specify how many nodes that you have in your circuit,
here is just two nodes (v1 = v2 = v)

I 5c2
R2
I3 R v I0 I4
+ +
v1 v y
- I2 -
c1 I1
R1 I 0
For Node (v2 = v): I I I
0 1 2
- Ve
v dv Op Amp
0 c1 i0
R1 dt v1 v0
v1 v2
High
For Node (v1 = v): i0 i0
I3 I 4 I5 I0 v2
v1 v v y d
c2 (v y )
R R2 dt
Accuracy
is the capacity of a measuring instrument to give RESULTS
close to the TRUE VALUE of the measured quantity
ABSOLUTE ERROR RESULT - TRUE VALUE
ABSOLUTE ERROR
RELATIVE ERROR
TRUE VALUE
PERCENTAGE ERROR RELATIVE ERROR 100%
However, it is common practice to express the error as a percentage

of the measuring range of the equipment
ABSOLUTE ERROR
PERCENTAGE ERROR 100%
MAXIMUMSCALE VALUE

Accuracy
is the capacity of a measuring instrument to give RESULTS
close to the TRUE VALUE of the measured quantity
Precision
Static sensitivity is defined as the ratio of the change in
output of the corresponding change in input under static or
steady-state conditions
High accuracy Low accuracy Low accuracy

High precision High precision Low precision
Sensor Technology Next Lecture
Next Lecture
Dynamic characteristics for sensor design

Zero Order Sensing System
First Order Sensing System
Second Order Sensing System
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Lect 2 Sensor Technology

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Lect 2 Sensor Technology

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Faculty of Engineering and

Dr. Amir R. Ali

At the end of this lecture the student will know

What is the static characteristics?

Quality Mechanical Electrical Accuracy

What is the static characteristics?

Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (8)

Mathematical Modeling Representations

Equation of motion Lecture (1)

Mathematical Modeling Representations

Equation of motion Lecture (1)

Mathematical Modeling Representations

Equation of motion Lecture (1)

Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (8)

for DC level for higher frequency level

Capacitor sensitivity 0 % Capacitor sensitivity 100 %

Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (10)

Tip deflection, (m)

Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (8)

Electric field, E [kV/m]

Electric field, E [kV/m]

Resolution: Resolution = (Sensitivity) -1 (Standard deviation)

d i yi a bxi Calibration graph Input i

Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (16)

Resolution: Response Curves Calibration Curves d, [pm]

|d/dE| , [pm/Vm-1] Bandwidth

Resolution: Response Curves Calibration Curves

1. Transfer Function Representations u(t) H(S) y(t)

Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (19)

mx f spring f damper f external

In S-domain m1S 2 X1 (S ) k1 X1 (S ) k1 X 2 (S ) 1SX1 (S ) F (S )

For mass 2 (m2) mi ai Fi

Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (24)

1. Transfer Function Representations

Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (25)

Step 3: apply KCL on each node

Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (26)

Step 3: apply KCL on (n1) USING S-DOMAIN ZL

Node(n2) [as a Voltage divider]

Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (28)

From 2 into 1 we get

(4S 1) 1 (8S 2 2S ) S (8S 2 2S )

Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (30)

Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (31)

Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (32)

Electric field, E [kV/m]

-6000 -4000 -2000 0 2000 4000 6000

General hysteresis Hysteresis of non-linear curves

Quality factor (Q-factor)

Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (35)

Quality factor (Q-factor)

Quality factor (Q-factor)

Quality factor (Q-factor)

Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (38)

Quality factor (Q-factor)

Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (39)

Types of resonators (oscillators)

Transmission intensity, [arb. units]

Mass-spring-damper Fabry-Perot cavities

Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (40)

Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (41)

At high Q-factor, the

Copyright 2017 Dr. Amir R. Ali-Assist. Prof. of Mechatronics Engineering (42)

1. Differential Equations Mechanical system