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Mechatronics Control
Mechatronics Control
Control Systems
• Output – motors
Stability
Robustness
errors in models
process dynamics
Effects of disturbances
Mechatronics Dr. Riessom 13
Example of a Closed Loop
Controller
Input Error Output
Computation Actuator Control Velocity
+ (Brain) (Auto Pedals) (Engine Power)
Desired - Actual
Position
Position
Sensing
(Eyes)
Velocity
Time
Velocity decreases as the
car gets closer to the
desired position
Velocity
Mechatronics Dr. Riessom 14
Continued…
20
Continued…
• Find a state feedback controlu K x such that the
closed loop system is asymptotically stable
x1
u k1 k 2 (Equ. 2)
x2
• Closed loop system becomes A
x ( A BK ) x u x x
B
-K
1
I A' 2 k2 k1 0
k1 k2
21
Feedback Linearization
Nonlinear system
X f ( x) G( x)U
U [G 1 ( x) f ( x) G 1 ( x)V ]
V Nonlinear U Dynamic x
Original system: Feedback System
x cos x U
Nonlinear feedback:
U cos x V Linear system: x V
22
Joint level PID control
• Each joint is a servo-mechanism
• Adopted widely in industrial robot
• Neglect dynamic behavior of whole arm
• Degraded control performance especially in high
speed
• Performance depends on configuration
e qd q
e e q q
Trajectory q d q d tor
Controller Robot
Planner qd _
• KP – Proportional Gain
• KI – Integral Gain
• KD – Derivative Gain
Time
Settling time
KI
KP KD
Controller:
tor D(q)[qd kv (q d q ) k p (q d q)] H (q, q ) C (q)
x1 e x1 x2
Define states:
x2 e x2 kv x2 k p x1
x1 0 1 x1
In matrix form:
x k
kv x2
AX
2 p
1
Characteristic equation: I A 2 kv k p 0
kp kv
k v k v 4k p
2
No magnetic field
High bandwidth
The total generated charge on the sensor surface due to the strain
is: q(t) D3 dA e31 x e32 y e33 x dA e31 x e31 y dA
A A A
Then the equivalent current becomes:
Actuation law
The above equation can be alternatively written in the form:
O/P
O/P DAQ I/PI/P