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25.02.

2005

Positioning Errors with Single Joint Controllers

By Vasfi Emre mrl, Ph.D.

In this lecture, you will learn to:


- Calculate position and velocity errors for a
single-joint control system
- Explain the sources of disturbances
- Find control gains to overcome disturbance
problem
- Calculate steady-state errors if there exists any
disturbances
- Design a control system to compensate for
steady-state errors
By Vasfi Emre mrl, Ph.D., 2017 2

Automatic Control Spring '05 Lecture I 1


25.02.2005

By Vasfi Emre mrl, Ph.D., 2017 3

By Vasfi Emre mrl, Ph.D., 2017 4

Automatic Control Spring '05 Lecture I 2


25.02.2005

By Vasfi Emre mrl, Ph.D., 2017 5

Other design problems

By Vasfi Emre mrl, Ph.D., 2017 6

Automatic Control Spring '05 Lecture I 3


25.02.2005

Disturbances on the arm

What is the torque required to move the load?

The feedback signals generate the motor command so that

By Vasfi Emre mrl, Ph.D., 2017 7

Disturbances on the arm

By Vasfi Emre mrl, Ph.D., 2017 8

Automatic Control Spring '05 Lecture I 4


25.02.2005

Disturbance Rejection
Combine all disturbances into Td(s) and find
and evaluate the DC gain. How does this
influence the choice of ?

By Vasfi Emre mrl, Ph.D., 2017 9

Steady-state position error

By Vasfi Emre mrl, Ph.D., 2017 10

Automatic Control Spring '05 Lecture I 5


25.02.2005

Error compensation

By Vasfi Emre mrl, Ph.D., 2017 11

Velocity Error

By Vasfi Emre mrl, Ph.D., 2017 12

Automatic Control Spring '05 Lecture I 6


25.02.2005

Velocity Error

By Vasfi Emre mrl, Ph.D., 2017 13

Velocity error compensation

By Vasfi Emre mrl, Ph.D., 2017 14

Automatic Control Spring '05 Lecture I 7

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