Sensors and actuators : control systems instrumentation

699 Pages·2007·4.97 MB·English

by  De Silva, Clarence W

Control Systems
Instrumentation

SENSORS
AND
ACTUATORS

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CRC Press is an imprint of the
Taylor & Francis Group, an informa business

Boca Raton London New York

Control Systems
Instrumentation

CLARENCE W. de SILVA

SENSORS
AND
ACTUATORS

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CRC Press
Taylor & Francis Group
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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)

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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

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Dedication

Dedicated to Charmaine, CJ, and Cheryl, since their ‘‘senses’’ have developed and since they have
become rather ‘‘active.’’

But as artificers do not work with perfect accuracy, it comes to pass that mechanics is so
distinguished from geometry that what is perfectly accurate is called geometrical; what is less
so, is called mechanical. However, the errors are not in the art, but in the artificers.
Sir Isaac Newton, Principia Mathematica,
Cambridge University, May 8, 1686

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Preface

This is an introductory book on the subject of control system instrumentation, with an
emphasis on sensors, transducers, and actuators. Specifically, the book deals with ‘‘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
and a reference book for practicing professionals. As a textbook, it is suitable for courses
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) level and the other at the first-year graduate level. In view of the practical
considerations, design issues, and industrial techniques that are presented throughout the
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.
A control system is a dynamic system that contains a controller as an integral part. The
purpose of the controller is to generate control signals, which will drive the process to be
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
necessary to measure output signals (process responses) for feedback control; to measure
input signals for feedforward control; to measure process variables for system monitoring,
diagnosis and supervisory control; and for a variety of other purposes. Since many differ-
ent types and levels of signals are present in a control system, signal modification (includ-
ing signal conditioning and signal conversion) is indeed a crucial function associated with
any control system. In particular, signal modification is an important consideration in
component interfacing. It is clear that a course in control system instrumentation should
deal with sensors and transducers, actuators, signal modification, and component inter-
connection. Specifically, the course should address the identification of control system
components with respect to functions, operation and interaction, and proper selection and
interfacing of these components for various control applications. Parameter selection
(including system tuning) is an important step as well. Design is a necessary and integral
part of control system instrumentation, for it is design that enables us to build a control
system that meets the performance requirements—starting, perhaps, with basic compon-
ents such as sensors, actuators, controllers, compensators, and signal modification devices.
The book addresses all these issues, starting from the basics and systematically leading to
advanced concepts and applications.
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 the specific control objectives. Operating principles,
modeling, design considerations, ratings, performance specifications, and applications of
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-
ness of the book, the material is presented in a manner that will be useful to anyone with a
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

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robotic manipulators, industrial machinery, ground transit vehicles, aircraft, thermal and
fluid process plants, and digital computer components. It is impossible to discuss every
available control system component in a book of this nature; for example, thick volumes
have been written on measurement devices alone. In this book, some types of sensors and
actuators are studied in great detail, while some others are treated superficially. Once
students are exposed to an in-depth study of some components, it should be relatively easy
for them to extend the same concepts and the same study approach to other components
that are functionally or physically similar. Augmenting their traditional role, the problems
at the end of each chapter serve as a valuable source of information not found in the main
text. In fact, the student is strongly advised to read all the problems carefully in addition to
the main text. Complete solutions to the end-of-chapter problems are provided in a
solutions manual, which is available to instructors who adopt the book.
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
simultaneous involvement in the development of undergraduate and graduate curricula
in mechatronics and in view of substantial new and enhanced material that I was able to
gather, the project quickly grew into one in mechatronics and led to the publication of the
monumental 1300-page textbook: Mechatronics—An Integrated Approach (Taylor & Francis,
CRC Press, 2005). In meeting the original goal, however, the present book was subse-
quently developed as a condensed version of the book on mechatronics, while focusing on
control sensors and actuators. The manuscript for the original book evolved from the notes
developed by me for an undergraduate course entitled ‘‘Instrumentation and Design of
Control Systems’’ and for a graduate course entitled ‘‘Control System Instrumentation’’ 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 ‘‘Computer Controlled Experimentation,’’ offered in the Depart-
ment of Mechanical Engineering at the Massachusetts Institute of Technology. At the
University of British Columbia, the original material was further developed, 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, Bruel and Kjaer, and NASA’s Lewis and Langley Research Centers.
The material presented in the book will serve as a firm foundation, for subsequent
building up of expertise in the subject—perhaps in an industrial setting or in an academic
research laboratory—with further knowledge of control hardware and analytical skills
(along with the essential hands-on experience) gained during the process. Undoubtedly,
for best results, a course in control sensors and actuators, mechatronics, or control system
instrumentation should be accompanied 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 the subject:

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. The material is presented in a progressive manner, first giving introductory
material and then systematically leading to more advanced concepts and
applications, in each chapter.

. The material is presented in an integrated and unified manner so that users with
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
uniformly integrated throughout the book.

. Key issues presented in the book are summarized in boxes and in point form, at
various places in each chapter, for easy reference, recollection, and for use in
Power-Point presentations.

. Many worked examples and case studies are included throughout the book.

. Numerous problems and exercises, most of which are based on practical
situations and applications, are given at the end of each chapter.

. References and reading suggestions are given at the end of the book, for further
information and study.

. A solutions manual is available for the convenience of the instructors.

Clarence W. de Silva
Vancouver, Canada

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Acknowledgments

Many individuals have assisted in the preparation of this book, but it is not practical to
acknowledge all such assistance here. First, I wish to recognize the contributions,
both direct and indirect, of my graduate students, research associates, and technical
staff. Special mention should be made of Jason Zhang, my research engineer. I am
particularly grateful to Michael Slaughter, senior editor, engineering, CRC Press, for his
interest, enthusiasm, constant encouragement, and support, throughout the project. Other
staff of CRC Press and its affiliates, particularly, Dr. S. Vinithan, Glenon Butler, Jessica Vakili,
and Liz Spangenberger deserve special mention here. Finally, I wish to acknowledge the
advice and support of various authorities in the field, particularly, Professor Devendra
Garg of Duke University, Professor Mo Jamshidi of the University of Texas (San Antonio),
Professors Marcelo Ang, Ben Chen, Tong-Heng Lee, Jim A.N. Poo, and Kok-Kiong Tan of
the National University of Singapore, Professor Arthur Murphy (DuPont Fellow Emeri-
tus), Professor Max Meng of the Chinese University of Hong Kong, Professor Grantham
Pang of the University of Hong Kong, Dr. Daniel Repperger of U.S. Air Force Research
Laboratory, and Professor David N. Wormley of the Pennsylvania State University. My
wife and children deserve much appreciation for their support and understanding during
the production of the book.

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Author

Dr. Clarence W. de Silva, P.E., Fellow ASME, and Fellow IEEE, is a professor of mech-
anical engineering at the University of British Columbia, Vancouver, Canada and has
occupied the NSERC-BC Packers Research Chair in industrial automation since 1988.
Before this, he has served as a faculty member at Carnegie Mellon University (1978–1987)
and as a Fulbright visiting professor at the University of Cambridge (1987–1988). Dr. de
Silva has earned PhD degrees, one from Massachusetts Institute of Technology (1978) and
the other from the University of Cambridge, England (1998). Dr. de Silva has also
occupied the Mobil Endowed Chair Professorship in the Department of Electrical and
Computer Engineering at the National University of Singapore (2000). He has served as a
consultant to several companies including IBM and Westinghouse in the United States,
and has led the development of six industrial machines.
Dr. de Silva is a recipient of the Henry M. Paynter outstanding investigator award from
the Dynamic Systems and Control Division of ASME, Killam research prize, outstanding
engineering educator award of the Institute of Electrical and Electronics Engineers (IEEE),
Canada, education award of the Dynamic Systems and Control Division of the American
Society of Mechanical Engineers (ASME), lifetime achievement award of the World
Automation Congress, IEEE third millennium medal, meritorious achievement award
of the Association of Professional Engineers of BC, the outstanding contribution award of
the Systems, Man, and Cybernetics Society of IEEE, outstanding chapter chair award of
the IEEE Vancouver Section, outstanding chapter award of the IEEE Control Systems
Society, and the outstanding large chapter award of the IEEE Industry Applications
Society. He has authored 16 technical books including Mechatronics—An Integrated
Approach (CRC Press, Taylor & Francis, 2005); Soft Computing and Intelligent Systems
Design—Theory,
Tools,
and
Applications
(with
F.
Karry,
Addison
Wesley,
2004);
Vibration—Fundamentals and Practice (CRC Press, Taylor & Francis, 2nd Edition, 2007),
Intelligent Control—Fuzzy Logic Applications (CRC Press, 1995), Control Sensors and Actu-
ators (Prentice Hall, 1989), 12 edited volumes, about 165 journal papers, and a similar
number of conference papers and book chapters.
Dr. de Silva has served on the editorial boards of twelve international journals, in
particular as the editor-in-chief of the International Journal of Control and Intelligent Sys-
tems, editor-in-chief of the International Journal of Knowledge-Based Intelligent Engineer-
ing Systems, senior technical editor of Measurements and Control, and regional editor,
North America, of Engineering Applications of Artificial Intelligence – the International Journal
of Intelligent Real-Time Automation. He is a Lilly Fellow at Carnegie-Mellon University,
NASA-ASEE Fellow, Senior Fulbright Fellow to Cambridge University, Fellow of
the Advanced Systems Institute of British Columbia, Killam Fellow, and Fellow of the
Canadian Academy of Engineering. Research and development activities of Dr. de
Silva are primarily centered in the areas of process automation, robotics, mechatronics,
intelligent control, and sensors and actuators.

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