Sensors and actuators : control systems instrumentation PDF
Preview Sensors and actuators : control systems instrumentation
ClarenceW.deSilva/SensorsandActuators:ControlSystemsInstrumentation 44834_C000 FinalProof page i 19.12.2006 1:34pm SENSORS AND ACTUATORS Control Systems Instrumentation ClarenceW.deSilva/SensorsandActuators:ControlSystemsInstrumentation 44834_C000 FinalProof page ii 19.12.2006 1:34pm ClarenceW.deSilva/SensorsandActuators:ControlSystemsInstrumentation 44834_C000 FinalProof page iii 19.12.2006 1:34pm SENSORS AND ACTUATORS Control Systems Instrumentation CLARENCE W. de SILVA Boca Raton London New York CRC Press is an imprint of the Taylor & Francis Group, an informa business ClarenceW.deSilva/SensorsandActuators:ControlSystemsInstrumentation 44834_C000 FinalProof page iv 19.12.2006 1:34pm CRC Press Taylor & Francis Group 6000 Broken Sound Parkway NW, Suite 300 Boca Raton, FL 33487-2742 © 2007 by Taylor & Francis Group, LLC CRC Press is an imprint of Taylor & Francis Group, an Informa business No claim to original U.S. Government works Printed in the United States of America on acid-free paper 10 9 8 7 6 5 4 3 2 1 International Standard Book Number-10: 1-4200-4483-4 (Hardcover) International Standard Book Number-13: 978-1-4200-4483-6 (Hardcover) This book contains information obtained from authentic and highly regarded sources. Reprinted material is quoted with permission, and sources are indicated. A wide variety of references are listed. Reasonable efforts have been made to publish reliable data and information, but the author and the publisher cannot assume responsibility for the validity of all materials or for the consequences of their use. No part of this book may be reprinted, reproduced, transmitted, or utilized in any form by any electronic, mechanical, or other means, now known or hereafter invented, including photocopying, microfilming, and recording, or in any informa- tion storage or retrieval system, without written permission from the publishers. For permission to photocopy or use material electronically from this work, please access www.copyright.com (http:// www.copyright.com/) or contact the Copyright Clearance Center, Inc. (CCC) 222 Rosewood Drive, Danvers, MA 01923, 978-750-8400. CCC is a not-for-profit organization that provides licenses and registration for a variety of users. For orga- nizations that have been granted a photocopy license by the CCC, a separate system of payment has been arranged. Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used only for identification and explanation without intent to infringe. Library of Congress Cataloging-in-Publication Data De Silva, Clarence W. Sensors and actuators : control system instrumentation / Clarence W. de Silva. p. cm. “A CRC title.” Includes bibliographical references and index. ISBN-13: 978-1-4200-4483-6 (alk. paper) ISBN-10: 1-4200-4483-4 (alk. paper) 1. Automatic control. 2. Detectors. 3. Actuators. I. Title. TJ213.D386 2007 670.42’7--dc22 2006024039 Visit the Taylor & Francis Web site at http://www.taylorandfrancis.com and the CRC Press Web site at http://www.crcpress.com ClarenceW.deSilva/SensorsandActuators:ControlSystemsInstrumentation 44834_C000 FinalProof page v 19.12.2006 1:34pm Dedication DedicatedtoCharmaine,CJ,andCheryl,sincetheir‘‘senses’’havedevelopedandsincetheyhave become rather ‘‘active.’’ But as artificers do not work with perfect accuracy, it comes to pass that mechanics is so distinguishedfromgeometrythatwhatisperfectlyaccurateiscalledgeometrical;whatisless so,iscalledmechanical.However, theerrorsare not inthe art, but inthe artificers. Sir Isaac Newton, Principia Mathematica, Cambridge University, May 8, 1686 ClarenceW.deSilva/SensorsandActuators:ControlSystemsInstrumentation 44834_C000 FinalProof page vi 19.12.2006 1:34pm ClarenceW.deSilva/SensorsandActuators:ControlSystemsInstrumentation 44834_C000 FinalProof page vii 19.12.2006 1:34pm Preface This is an introductory book on the subject of control system instrumentation, with an emphasisonsensors,transducers,andactuators.Specifically,thebookdealswith‘‘instru- menting’’ a control system through the incorporation of suitable sensors, actuators, and associated interface hardware. It will serve as both a textbook for engineering students andareferencebookforpracticingprofessionals.Asatextbook,itissuitableforcourses in control system instrumentation; control sensors and actuators; and mechatronics; or a second course in feedback control systems. The book has adequate material for two 14-week courses, one at the junior (third-year undergraduate) or senior (fourth-year undergraduate)levelandtheotheratthefirst-yeargraduatelevel.Inviewofthepractical considerations,designissues,andindustrialtechniquesthatarepresentedthroughoutthe book, and in view of the simplified and snap-shot style presentation of more advanced theory and concepts, the book will serve as a useful reference tool for engineers, techni- cians, project managers, and other practicing professionals in industry and in research laboratories, in the fields of control engineering, mechanical engineering, electrical and computerengineering,manufacturingengineering,aerospaceengineeringandmechatronics. Acontrolsystemisadynamicsystemthatcontainsacontrollerasanintegralpart.The purposeofthecontrolleristogeneratecontrolsignals,whichwilldrivetheprocesstobe controlled (the plant) in the desired manner. Actuators are needed to perform control actions as well as to directly drive or operate the plant. Sensors and transducers are necessarytomeasureoutputsignals(processresponses)forfeedbackcontrol;tomeasure inputsignalsforfeedforwardcontrol;tomeasureprocessvariablesforsystemmonitoring, diagnosisandsupervisorycontrol;andforavarietyofotherpurposes.Sincemanydiffer- enttypesandlevelsofsignalsarepresentinacontrolsystem,signalmodification(includ- ingsignalconditioningandsignalconversion)isindeedacrucialfunctionassociatedwith any control system. In particular, signal modification is an important consideration in component interfacing. Itisclear that a course in controlsystem instrumentation should deal with sensors and transducers, actuators, signal modification, and component inter- connection. Specifically, the course should address the identification of control system componentswithrespecttofunctions,operationandinteraction,andproperselectionand interfacing of these components for various control applications. Parameter selection (includingsystemtuning)isanimportantstepaswell.Designisanecessaryandintegral part of control system instrumentation, for it is design that enables us to build a control systemthatmeetstheperformancerequirements—starting,perhaps,withbasiccompon- entssuchassensors,actuators,controllers,compensators,andsignalmodificationdevices. Thebookaddressesalltheseissues,startingfromthebasicsandsystematicallyleadingto advancedconceptsandapplications. The approach taken in the book is to treat the basic types of control sensors and actuators in separate chapters, but without losing sight of the fact that various compon- ents in a control system have to function as an interdependent and interconnected (integrated) group in accomplishing thespecificcontrol objectives. Operating principles, modeling,designconsiderations,ratings,performancespecifications,andapplicationsof the individual components are discussed. Component integration and design consider- ations are addressed as well. To maintain clarity and focus and to maximize the useful- nessofthebook,thematerialispresentedinamannerthatwillbeusefultoanyonewitha basic engineering background, be it electrical, mechanical, mechatronic, aerospace, con- trol, manufacturing, chemical, civil, or computer. Case studies, worked examples, and exercises are provided throughout the book, drawing from such application systems as ClarenceW.deSilva/SensorsandActuators:ControlSystemsInstrumentation 44834_C000 FinalProof page viii 19.12.2006 1:34pm robotic manipulators,industrialmachinery,groundtransitvehicles,aircraft,thermaland fluid process plants, and digital computer components. It is impossible to discuss every availablecontrol systemcomponent in a bookof thisnature;for example,thick volumes havebeenwrittenonmeasurementdevicesalone.Inthisbook,sometypesofsensorsand actuators are studied in great detail, while some others are treated superficially. Once studentsareexposedtoanin-depthstudyofsomecomponents,itshouldberelativelyeasy forthemtoextendthesameconceptsandthesamestudyapproachtoothercomponents thatarefunctionallyorphysicallysimilar.Augmentingtheirtraditionalrole,theproblems attheendofeachchapterserveasavaluablesourceofinformationnotfoundinthemain text.Infact,thestudentisstronglyadvisedtoreadalltheproblemscarefullyinadditionto the main text. Complete solutions to the end-of-chapter problems are provided in a solutionsmanual,whichisavailabletoinstructorswhoadoptthebook. About 10 years after my book Control Sensors and Actuators (Prentice-Hall, 1989) was published, I received many requests for a revised and updated version of the book. The revision was undertaken in the year 2000 during a sabbatical leave. As a result of my simultaneousinvolvement in the development of undergraduate and graduate curricula inmechatronicsandinviewofsubstantialnewandenhancedmaterialthatIwasableto gather,theprojectquicklygrewintooneinmechatronicsandledtothepublicationofthe monumental1300-pagetextbook:Mechatronics—AnIntegratedApproach(Taylor&Francis, CRC Press, 2005). In meeting the original goal, however, the present book was subse- quentlydevelopedasacondensedversionofthebookonmechatronics,whilefocusingon controlsensorsandactuators.Themanuscriptfortheoriginalbookevolvedfromthenotes developed by me for an undergraduate course entitled ‘‘Instrumentation and Design of ControlSystems’’andforagraduatecourseentitled‘‘ControlSystemInstrumentation’’at Carnegie Mellon University. The undergraduate course was a popular senior elective taken by approximately half of the senior mechanical engineering class. The graduate course was offered for students in electrical and computer engineering, mechanical engineering, and chemical engineering. The prerequisites for both courses were a conventional introductory course in feedback controls and the consent of the instructor. During the development of the material for that book, a deliberate attempt was made to cover a major part of the syllabuses for the two courses: ‘‘Analog and Digital Control System Synthesis,’’ and ‘‘ComputerControlled Experimentation,’’offered in theDepart- ment of Mechanical Engineering at the Massachusetts Institute of Technology. At the UniversityofBritishColumbia,theoriginalmaterialwasfurtherdeveloped,revised,and enhanced for teaching courses in mechatronics and control sensors and actuators. The material in the book has acquired an application orientation through my industrial experience in the subject at places such as IBM Corporation, Westinghouse Electric Corporation, Brueland Kjaer, and NASA’sLewisandLangley ResearchCenters. The material presented in the book will serve as a firm foundation, for subsequent buildingupofexpertiseinthesubject—perhapsinanindustrialsettingorinanacademic research laboratory—with further knowledge of control hardware and analytical skills (along with the essential hands-on experience) gained during the process. Undoubtedly, forbestresults,acourseincontrolsensorsandactuators,mechatronics,orcontrolsystem instrumentationshouldbeaccompanied by a laboratory component and class projects. Main Features of the Book The following are the main features of the book, which will distinguish it from other available books on thesubject: ClarenceW.deSilva/SensorsandActuators:ControlSystemsInstrumentation 44834_C000 FinalProof page ix 19.12.2006 1:34pm . The material is presented in a progressive manner, first giving introductory material and then systematically leading to more advanced concepts and applications, ineachchapter. . Thematerialispresentedinanintegratedandunifiedmannersothatuserswith a variety of engineering backgrounds (mechanical, electrical, computer, control, aerospace, manufacturing, chemical, and material) will be able to follow and equally benefit from it. . Practical procedures and applications are introduced in the beginning and then uniformlyintegrated throughout the book. . Keyissuespresentedinthebookaresummarizedinboxesandinpointform,at various places in each chapter, for easy reference, recollection, and for use in Power-Pointpresentations. . Manyworked examplesandcasestudies are includedthroughout the book. . Numerous problems and exercises, most of which are based on practical situations and applications,are given at the end ofeachchapter. . Referencesandreadingsuggestionsaregivenattheendofthebook,forfurther information andstudy. . Asolutions manual isavailable for the convenience of the instructors. Clarence W. deSilva Vancouver, Canada
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