OSU ECE 5463 - Control-1 (6 pages)

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Control-1

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Pages:
6
School:
Ohio State University
Course:
Ece 5463 - Introduction to Real Time Robotics Systems

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Control 1 Take class notes Topics to be covered General response for a voltage controlled DC motor with proportional control of position Steady state error Overshoot velocity feedback for damping Integrator for reducing steady state error First consider a linear proportional control for DC motor controlling robot joint Motor transfer function Motor input Motor transfer function From the above one has From the above one can obtain Use the U12M4T motor one has Characteristic equation From the above transfer function one can obtain the characteristic equation using the denominator The characteristic equation is used to solve the root of a second order system The root can determine the speed of response and damping 60 5 7 60 2 5 7 0 0 There are three cases for the roots Case 1 Case 2 Case 3 1 when 1 called over damped when 1 called critical damped 1 when 1 called underdamped How does the system respond to a unit step input For the U12M4T motor 5 7 2 Note Kb and B both increase the damping Kb is equivalent to a negative feedback Increasing K1 decreasing damping K1 can be used to control the system proportional control Performance Steady state error 1 Assume unit step input 1 No stead state error for a unit step input Consider a load of robot link For steady state Increasing K1 decreasing position error Problems with proportional control Overshoot increases with increasing gain Steady state error decreases with increasing gain



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