TAILIEUCHUNG - CRC Press - Robotics and Automation Handbook Episode 1 Part 10

Tham khảo tài liệu 'crc press - robotics and automation handbook episode 1 part 10', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Ẹ 20 Sensor Noise at 1000 Hz Bandwidth 3-sigma nm 0 Sensor Noise at 100 Hz Bandwidth 3-sigma nm 0 1 -20 Ẹ 20 0 -20 0 1 Ẹ 20 0 -20 Sensor Noise at 10 Hz Bandwidth 3-sigma nm 0 1 Time s FIGURE Effect of analog filtering on the resolution of an analog sensor. controller loop bandwidth. If the noise present in the sensor measurement is essentially random the sensor resolution can be expressed as a spectral density and quoted as nm VHz. The designer can then match the appropriate filter bandwidth to his resolution requirements. However a caution here is that many sensors have inherently higher levels of noise at the lower frequencies. The amount of filtering required to achieve a resolution may be higher than expected. Analog sensors are usually supplied with signal conditioning electronics that convert the natural output of the sensor to a standard form typically 10 V . These electronics should be placed as close as possible to the sensor because the low-level signals in the raw sensor output are often highly susceptible to electronic noise. The conditioned signal is usually somewhat less sensitive but should still be shielded and routed as far as possible from high-power conductors. Analog sensor accuracy and linearity is entirely distinct from the resolution specification. Sensors may be highly linear about an operating point but often become increasingly nonlinear over their full range of travel. This nonlinearity can be compensated for with a table or curve fit in software. Sensor manufacturers may also provide a linearized output from their electronics package. This is very useful for metrology but a designer should confirm the update rate of this output before using for feedback. Often this additional output is no longer a native analog signal but it may have been quantized corrected and re-synthesized through a digital-to-analog .

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