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speed is constant for a wide range of mechanical turning resistances. Stepper motors can be controlled using microcomputers. This type of motor is especially well suited for point-to-point motion. Complicated, intricate tasks can done by computer-controlled robots using stepper motors.
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Selsyn A selsyn is an indicating device that shows the direction in which an object is oriented. It consists of a transmitting unit and a receiving (or indicator) unit. As the shaft of the transmitting unit rotates, the shaft of the receiving unit, which is a stepper motor, follows along exactly. A common application is as a direction indicator for a wind vane (Fig. 30-4). When the wind vane rotates, the indicator unit shaft moves through the same number of angular degrees as the transmitting unit shaft. A selsyn for azimuth (compass) bearings has a range of 0 to 360 . A selsyn for elevation bearings has range of 0 to 90 . A synchro is a selsyn used for the control of mechanical devices. Synchros are well suited for robotic teleoperation, or remote control. Some synchros are programmable. The operator inputs a number into the generator, and the receiver changes position accordingly. Synchros are commonly used as rotators and direction indicators for directional communications antennas such as the Yagi or dish. Electric Generator An electric generator is constructed in much the same way as an ac motor, although it functions in the opposite sense. Some generators can also be used as motors; devices of this type are called motor/generators.
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30-4 A selsyn can be used to
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remotely indicate the direction in which a mechanical device is pointed.
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522 Transducers, Sensors, Location, and Navigation
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A typical generator produces ac from the mechanical rotation of a coil in a strong magnetic field. Alternatively, a permanent magnet can be rotated within a coil of wire. The rotating shaft can be driven by a gasoline engine, a steam turbine, a water turbine, a windmill, or even by human power. A commutator can be used with a generator to produce pulsating dc output, which can be filtered to obtain pure dc for use with electronic equipment. Small portable gasoline-powered generators, capable of delivering a few kilowatts, can be purchased in department stores or home-and-garden stores. Larger generators, which usually burn propane or methane ( natural gas ), allow homes or buildings to keep their electrical power in the event of an interruption in the utility. The largest generators are found in power plants, and can produce many kilowatts. Small generators can be used in synchro systems. These specialized generators allow remote control of robotic devices. A generator can be used to measure the speed at which a vehicle or rolling robot moves. The shaft of the generator is connected to one of the wheels, and the generator output voltage and frequency vary directly with the angular speed of the wheel. This is an example of a tachometer, a device familiar to people with automotive experience.
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Optical Encoder In digital radios, frequency adjustment is done in discrete steps. A typical increment is 10 Hz for shortwave radios and 200 kHz for FM broadcast radios. An alternative to mechanical switches or
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30-5 An optical encoder uses LEDs and photodetectors to sense the direction
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and extent of shaft rotation.
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Detection and Measurement 523
gear-driven devices, which wear out with time, is the optical encoder, also called the optical shaft encoder. An optical encoder consists of two LEDs, two photodetectors, and a device called a chopping wheel. The LEDs shine on the photodetectors through the wheel. The wheel has radial bands, alternately transparent and opaque (Fig. 30-5). The wheel is attached to the tuning shaft, which is attached to a large knob. As the tuning knob is rotated, the light beams are interrupted. Each interruption causes the frequency to change by a specified increment. The difference between frequency up and frequency down (clockwise and counterclockwise shaft rotation, respectively) is determined according to which photodetector senses each sequential beam interruption first.
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