Professional Documents
Culture Documents
CH 08
CH 08
This solution manual may not be copied, posted, made available to students,
placed on any outlet, any other electronic media system, and the Internet
without prior expressed consent of the copyright owner.
This material may not be used except in conjunction with the “Introduction to
Robotics: Analysis, Control, Applications”
+ Output
Input reference Controller Plant
-
Sensor
Feedback signal
Introduction to Robotics: Analysis, Control,
Applications, Third Edition. Saeed B. Niku. ©
2020 John Wiley & Sons Ltd. Published 2020 by
Basic Components and Terminology: Cont.
Open-loop controller
Closed-loop controller
Error signal
Summing junction
System’s dynamics
Input Output
G
L [ f (t )] F ( s ) e dt[ f (t )] f (t )e st dt
st
0 0
where
s j
t
e sin t
2
2
s
s
e t cos t
s
2
2
kf (t ) kF ( s)
f1 (t ) f 2 (t ) F1 ( s) F2 ( s )
f (t ) sF ( s ) f (0)
f (t ) s 2 F ( s) sf (0) f (0)
f n (t ) s n F ( s) s n 1 f (0) f n 1 (0)
Introduction to Robotics: Analysis, Control,
Applications, Third Edition. Saeed B. Niku. ©
2020 John Wiley & Sons Ltd. Published 2020 by
Final value Theorem
lim f (t ) [ sF ( s )]s 0
t
If F ( s) N ( s ) m D( s ) n
where N(s) and D(s) are the numerator and denominator,
we can break the equation into the following form where z
and p values are zeros and poles:
N ( s ) m K ( s z1 )( s z2 ) ( s z m )
F (s)
D( s )n ( s p1 )( s p2 ) ( s pn )
Therefore, the inverse Laplace transform can be found.
If:
N (s)m a1 a2 an
F ( s)
D ( s) n ( s p1 ) ( s p2 ) ( s pn )
where:
N ( s)
ak ( s pk )
D ( s ) s pk
and:
f (t ) L 1 F ( s) a1e p1t a2e p2t an e pnt
Then:
N ( s) m c1 c2 a1 an
F ( s)
D ( s ) n ( s j ) ( s j ) ( s p1 ) ( s pn )
and:
( j ) t ( j ) t p1t
f (t ) c1e c2 e a1e
B(s)
Feedback signal
H(s)
Introduction to Robotics: Analysis, Control,
Applications, Third Edition. Saeed B. Niku. ©
2020 John Wiley & Sons Ltd. Published 2020 by
Transfer Function: Cont.
Y ( s) E ( s)G ( s) and B( s) Y ( s) H ( s ) E ( s )G ( s ) H ( s )
B ( s ) E ( s )G ( s ) H ( s )
OLTF G (s ) H (s )
E ( s) E (s)
Y (s)
FFTF G ( s)
E (s)
B(s)
Feedback signal
H(s)
Introduction to Robotics: Analysis, Control,
Applications, Third Edition. Saeed B. Niku. ©
2020 John Wiley & Sons Ltd. Published 2020 by
Transfer Function: Cont.
Or:
Y (s) G ( s)
CLTF
R(s) 1 G (s) H (s)
NG (s) N H ( s)
H (s)
And if G ( s ) D ( s ) DH ( s )
G
Then:
G ( s) N G DH
CLTF
1 G ( s ) H ( s ) N G N H DG DH
B C B+C
A AG1G2 A AG1G2
G1 G2 = G1 G2
A A(G1-G2) A A(G1-G2)
G1 +- G1-G2
=
G2
B B/G B
1/G
B B G
A B B
+- G1 A 1/G2 +- G1G2
=
G2
A A(G1-G2)
G1 +- A AG1-AG2
= G2 1/G2 G1 +-
G2
63%
Rise time
10%
0 t
Introduction to Robotics: Analysis, Control,
Applications, Third Edition. Saeed B. Niku. ©
2020 John Wiley & Sons Ltd. Published 2020 by
Characteristics of First-Order Transfer Functions:
Cont.
The following definitions characterize the response:
The final value is PKss.
is the time constant, an indication of how fast the
system responds to the step function.
a 1 is a pole.
The location of the pole in a real-imaginary plane relative
to the imaginary axis (y-axis) specifies whether or not the
system is stable and how fast it responds.
If the pole is to the left of the y-axis (negative), the
response 1 e at is bounded.
If it is to the right of the imaginary plane, the response is
1 e at which is not bounded.
dx PK ss
PK ss a
dt t 0
In first-order transfer functions the system responds as soon as
u(t) is applied.
T p n 1 2
The rise time Tr is the time to go from 10% of the response to 90%.
No time constant is defined for a second-order transfer function.
Settling time Ts is reached when the response does not vary more than 2% or
Ts 4 n
%OS
F (max) Fss
100% e
1 2 100%
Fss
Introduction to Robotics: Analysis, Control,
Applications, Third Edition. Saeed B. Niku. ©
2020 John Wiley & Sons Ltd. Published 2020 by
Characteristics of Second-Order Transfer
Functions: Cont.
1
0.9
0.1
n t
5 10 15
Rise time Tr
Peak time Tp
s 2 2n s n2 0
2n
2
2
b b 4ac 2n 4n2
s
2a 2
s n n 2 1
1 , therefore s n , repeated twice. This means that there will be two poles
at the same location. This system is critically damped.
1 , therefore 2 1 is positive, resulting in a pair of real and distinct roots
and a system that is overdamped.
1 , therefore 2 1 is negative. The roots are complex conjugate
pair s n n 1 2 j . The system is underdamped.
0 , therefore s n j , which is an undamped system with complex conjugate
roots on the imaginary axis.
Introduction to Robotics: Analysis, Control,
Applications, Third Edition. Saeed B. Niku. ©
2020 John Wiley & Sons Ltd. Published 2020 by
Characteristic Equation: Pole/Zero Mapping
Re
critical
damping
lines of
constant
damping
Introduction to Robotics: Analysis, Control,
Applications, Third Edition. Saeed B. Niku. ©
2020 John Wiley & Sons Ltd. Published 2020 by
Steady-State Error
Steady-state error signal and transfer function for a typical system are:
H(s)
E ( s) R( s) Y ( s) H ( s)
G(s) 1
Y ( s) R( s) E ( s) R( s )
1 G (s) H ( s) 1 G ( s) H ( s)
1
Ess lim s R(s)
s 0
1 G (s) H ( s)
K ( a s 1)( b s 1)
G ( s) H (s ) n
s ( 1s 1)( 2 s 1)
The value of n determines the type of the system and indicates how
many pure integrators are present in the feed-forward path.
Substituting different inputs for R for different system types yields the
steady-state error signal.
K p lim G ( s) H ( s ) .
s 0
1
Therefore Ess
1 K p
For a type-0 system:
K ( a s 1)( b s 1) 1
G ( s) H ( s) K p K and Ess
( 1s 1)( 2 s 1) 1 K
K ( a s 1)( b s 1)
G ( s) H ( s) n
K p and Ess 0
s ( 1s 1)( 2 s 1)
Introduction to Robotics: Analysis, Control,
Applications, Third Edition. Saeed B. Niku. ©
2020 John Wiley & Sons Ltd. Published 2020 by
Steady-State Error: Cont.
For ramp inputs, we define static velocity error coefficient as
K v lim sG ( s ) H ( s ) .
s 0
1 1 1 1
Therefore Ess lim s lim
2 s 0
s 0
1 G ( s) H ( s) s sG ( s) H ( s ) K v
K ( a s 1)( b s 1)
G ( s) H ( s) K v 0 and Ess
( 1s 1)( 2 s 1)
K ( a s 1)( b s 1) 1
G ( s) H (s) Kp K and Ess
s ( 1s 1)( 2 s 1) K
Introduction to Robotics: Analysis, Control,
Applications, Third Edition. Saeed B. Niku. ©
2020 John Wiley & Sons Ltd. Published 2020 by
Root Locus Method
R + E Y
K G
-
Y KG
TF and KGH 1 0
R KGH 1
N ( s) D( s )
K 1 0 KN ( s) D( s) 0 or K
D( s ) N ( s)
The root locus is the loci of the roots of this equation as K varies.
o If K=0, the roots are the poles.
o As K increases, the location of the roots change until K approaches , at
which time the roots converge to the zeros of the open-loop transfer
function.
o For every value of K the roots will be at a different location, yielding a
different behavior.
Plotting these roots for all values of K (root locus) allows us to both analyze
and predict the behavior of the system.
Introduction to Robotics: Analysis, Control,
Applications, Third Edition. Saeed B. Niku. ©
2020 John Wiley & Sons Ltd. Published 2020 by
Root Locus Method: Cont.
Im
R + E 5( s 4) Y 10
K
- s ( s 3)( s 7) 8
2
Re
-8 -6 -4 -2 0 -2 2
-4
-6
-8
By plotting the open-loop transfer function zeros, the ends can be marked off.
If all the roots are numbered sequentially from right to left, the root locus exists to
the left of the odd-numbered roots only.
The magnitude of the overall transfer function at this point is the ratio of the
products of all vectors from this point to each zero and pole, or:
M TF
Mz i
M z1 M z2
M p i
M p1 M p2 Im
4
3
The corresponding angles of vectors are added as:
P1 2
z1 z2
P2
zi pi 180 1
Re
-8 -6 -4 -2 0 -2 2
Magnitude Criterion
KGH 1180
Angle Criterion
Since K is a real value, the angle criterion is satisfied when
GH 180 .
# poles # zeros
,3 ,5 ,
Angles of Asymptotes
1 180
2 90, 270
3 60, 180, 300
4 45, 135, 225, 315
Asymptote Center
A
p Z
E + Va
KP
+
KI
s
KI
where z I .
KP
To not severely affect the shape of the root locus by this addition, we
should pick z I to be close to the origin.
Va K KP
G K P K D s K D s P K (s zD ) where z .
E KD KD
The controller adds a zero to the root locus, changing its characteristics.
E
KP + Va
+
KD s
E
KP
KI + Va
s +
+
KD s
Y 1
3
R s a1s 2 a2 s a3
E1
R 1 x1 1 x2 1 x3 Y
+-
s s s
a1
a2
a3
Introduction to Robotics: Analysis, Control,
Applications, Third Edition. Saeed B. Niku. ©
2020 John Wiley & Sons Ltd. Published 2020 by
Digital Control
R + Microprocessor Hold or Y
or computer DAC G
-
Sampler
Sensor
or ADC
Z f (n 1) z 1F ( z )
Sensors
J , b
Introduction to Robotics: Analysis, Control,
Applications, Third Edition. Saeed B. Niku. ©
2020 John Wiley & Sons Ltd. Published 2020 by
Electro-Mechanical Systems Dynamics: Robot
Actuation and Control: Cont.
In Laplace form:
K t I ( s ) Js 2 ( s ) bs( s )
R ( Js 2 bs ) Ls ( Js 2 bs )
E (s) K B s ( s )
Kt Kt
Usually L<< than the inertia of the rotor and the load combined.
This equation may be simplified to:
R( Js 2 bs )
E (s) K B s ( s )
Kt
The transfer function between the output ( s ) and input E(s) is:
( s ) Kt Kt RJ
TF
E ( s ) R ( Js 2 bs ) K t K B s b KK
ss t B
J RJ
( s ) K Kt 1 Kt K B
TF where K and a b
E ( s) s a RJ J R
E(s) + ( s)
( s ),
G1
-
L R H1
o
v
vbemf
i
vin
a
R
L
R
L
J, b
b
v
In Laplace domain:
I ( s ) ( Ra RL Ls ) Vb ( s ) K f s( s )
K f s( s) RL E(s) ( s )
Vo ( s ) I ( s ) RL + K
Ra RL Ls - sa
m
The transfer function for the tachometer is: sn
V0 ( s ) V0 ( s ) K f RL m
TF
s( s ) ( s ) Ra RL Ls s n
K f RL Ra RL
where m and n as shown.
L L
Introduction to Robotics: Analysis, Control,
Applications, Third Edition. Saeed B. Niku. ©
2020 John Wiley & Sons Ltd. Published 2020 by
Electro-Mechanical Systems Dynamics: Robot
Actuation and Control: Cont.
The natural frequency and damping ratio of the system can be calculated as follows:
LJs 2 s( RJ Lb) Rb K t K B
E (s) s( s )
K t
The transfer function between the input voltage and output angular velocity is:
Kt
( s ) LJ
E (s) 2 RJ Lb Rb K t K B
s s
LJ LJ
This is second-order in the form of s 2 2n s 2 . The damping coefficient and natural
frequency of the joint (and the connected load) can be calculated from it.