Professional Documents
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Feedback Control
Robert Stengel
Robotics and Intelligent Systems MAE 345,
Princeton University, 2013"
Inner, Middle, and Outer
Feedback Control Loops"
Step Response of Linear, TimeInvariant (LTI) Systems"
Position and Rate Control"
Transient and Steady-State
Response to Sinusoidal Inputs"
Copyright 2013 by Robert Stengel. All rights reserved. For educational use only.!
http://www.princeton.edu/~stengel/MAE345.html!
Outer-to-Inner-Loop
Control Hierarchy"
Inner Loop"
Small Amplitude"
Fast Response"
High Bandwidth"
Middle Loop"
Moderate Amplitude"
Medium Response"
Moderate Bandwidth"
Outer Loop"
Large Amplitude"
Slow Response"
Low Bandwidth"
Feedback"
Error between command and
feedback signal drives next
inner-most loop"
Outer-to-Inner-Loop
Control Hierarchy of an
Industrial Robot"
Inner Loop"
Focus on control
of individual joints"
Middle Loop"
Focus on operation of the robot"
Outer Loop"
Focus on goals for robot operation"
Dynamics"
Delays"
Dead Zones"
Saturation"
Coupling"
Structure"
Layout"
Insulation"
Circulation"
Multiple Spaces"
External Effects"
Solar Radiation"
Air Temperature"
Wind"
Rain, Humidity"
Control Law [i.e., logic that drives the control variable, u(t)] "
Speed Control of
Direct-Current Motor"
Angular Rate"
u(t) = c e(t)
where
e(t) = yc (t) y(t)
Model of Dynamics
and Speed Control"
First-order LTI ordinary differential equation"
dy(t) 1
c
c
= u(t) = e(t) = [ yc (t) y(t)], y ( 0 ) given
dt
J
J
J
Integral of the equation, with y(0) = 0"
t
1
c
c
y(t) = u(t)dt = e(t)dt =
J0
J0
J
[ y (t) y(t)] dt
c
Step Response of
Speed Controller"
Step input :
0, t < 0
yC (t) =
1, t 0
c
t
t
y(t) = yc 1 exp J = yc 1 exp t = yc 1 exp
where"
= c/J = eigenvalue or
root of the system (rad/sec)"
= J/c = time constant of
the response (sec)"
What does the shaft angle
response look like?!
Angle Control of
Direct-Current Motor"
Angular Position"
u(t) = c e(t)
where
e(t) = yc (t) y(t)
1
c
y(t) = u(t) dt dt =
J00
J
t t
c
e(t)
dt
dt
=
0 0
J
t t
[y
y(t)] dt dt
0 0
d 2 y(t)
c
=
y(t)
=
[ yc y(t)]
dt 2
J
x1 (t) = x2 (t)
u(t) c
c
x2 (t) =
= [ yc y(t)] = [ yc x1 (t)]
J
J
J
State-Space Model
of the DC Motor"
Open-loop dynamic equation"
x1 (t) 0 1 x1 (t)
x2 (t) 0 0 x2 (t)
0
+
u(t)
1 / J
x1 (t) 0
=
x2 (t) c / J
1 x1 (t)
0 x2 (t)
0
+
yc
c / J
=
x2 (t) c / J
1 x1 (t)
0 x2 (t)
0
+
yc
c / J
"
x1 (t)
0
=
x2 (t) c1 / J
x1 (t) 0
+
c2 / J x2 (t) c1 / J
yc
Alternative Implementations
of Rate Feedback"
u(t) = c1 [ y c (t) y1 (t)] c 2 y 2 (t) = c1 [ y c (t) y1 (t)] c 2
dy1 (t)
dt
c1 /J = 1; c2 /J = 0"
Why are there 2
oscillations in the
output?"
Undamped
transient response
to the input!
Long-term dynamic
response to the
input!
Response to Sine
Wave Input with
Rate Damping"
c1 /J = 1; c2 /J = 1.414"
c1 /J = 1; c2 /J = 2.828"
y peak
yC peak
t peak
Period
, deg
c1 /J = 1; c2 /J = 1.414"
c1 /J = 1; c2 /J = 1.414"
Frequency
Response of the
DC Motor with
Feedback
Control "
! Long-term response
to sinusoidal inputs
over range of
frequencies"
! Determine
experimentally or "
! from the transfer
function"
! Transfer function
based on the
Laplace transform
of the system "
! Frequency response
depicted in the
Bode Plot!
Next Time:
Analog and Digital
Control Systems
Supplemental Material!