control and robotics
DESCRIPTION
Control and Robotics. Its all about the feedback. Sensing – environment, position, pose or attitude, obstacles, etc. Path Planning (traditional A/I) – given the environment, get to objective Control – How do you track the trajectory that you have generated. - PowerPoint PPT PresentationTRANSCRIPT
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Control and Robotics
Its all about the feedback
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Autonomous Mobile Platforms depend on:Autonomous Mobile Platforms depend on:
• Sensing – environment, position, pose or Sensing – environment, position, pose or attitude, obstacles, etc.attitude, obstacles, etc.
• Path Planning (traditional A/I) – given the Path Planning (traditional A/I) – given the environment, get to objectiveenvironment, get to objective
• Control – How do you track the trajectory that Control – How do you track the trajectory that you have generatedyou have generated
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OutlineOutline
• Robotics in generalRobotics in general
• Sensors in generalSensors in general– Types of SensorsTypes of Sensors– Filtering IssuesFiltering Issues
• Control in generalControl in general– PID (Proportional Integral Derivative Control)PID (Proportional Integral Derivative Control)– Example, 3 wheeled ground vehicleExample, 3 wheeled ground vehicle
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Robotics
• Czech word Robota means compulsory labor.
• “Rosum’s Universal Robots” written in 1920 by Czechoslovakian author Karel Capeck
• Robotics: technology dealing with the design, construction, and operation of robots.
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RobotsRobots
According to Merriam-Webster:According to Merriam-Webster:1 a1 a :: a machine that looks like a human being and a machine that looks like a human being and performs various complex acts (as walking or performs various complex acts (as walking or talking) of a human being; talking) of a human being; alsoalso :: a similar but a similar but fictional machine whose lack of capacity for fictional machine whose lack of capacity for human emotions is often emphasized human emotions is often emphasized bb :: an an efficient insensitive person who functions efficient insensitive person who functions automaticallyautomatically22 :: a device that automatically performs a device that automatically performs complicated often repetitive taskscomplicated often repetitive tasks33 :: a mechanism guided by automatic controls a mechanism guided by automatic controls
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My DefinitionMy Definition
• Look at a Venn Look at a Venn diagram of diagram of Mechanical and/or Mechanical and/or Electrical Hardware, Electrical Hardware, Software, and Control Software, and Control Systems.Systems.
• Robotics is the Robotics is the overlapping area at the overlapping area at the center of the threecenter of the three
GNCGNC
MechanicalMechanical
SoftwareSoftware
RoboticsRobotics
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What are some of the Issues?What are some of the Issues?
• ConfigurationConfiguration– What mechanical scheme do you need to What mechanical scheme do you need to
complete the missioncomplete the mission– Example: UAV that deploys from a type “A” Example: UAV that deploys from a type “A”
sonobuoy (36” long x 4.875” in diameter)sonobuoy (36” long x 4.875” in diameter)– Example: Pipe Inspection must negotiate 90 Example: Pipe Inspection must negotiate 90
degree bends, self contained, etc.degree bends, self contained, etc.
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NavigationNavigation
• How do you know where you are?How do you know where you are?– OutdoorsOutdoors– UnderwaterUnderwater– In SpaceIn Space– IndoorsIndoors– UndergroundUnderground
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GuidanceGuidance
• Where do you want to go?Where do you want to go?
• How fast do you need to get there?How fast do you need to get there?
• Is there anything in the way?Is there anything in the way?
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ControlControl
• How do you get from where you are, to How do you get from where you are, to where you want to go?where you want to go?
• What if something is not as predictedWhat if something is not as predicted
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OdometryOdometry
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GPS – Global Positioning SystemGPS – Global Positioning System
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InertialsInertials
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AttitudeAttitude
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Control Issues
• Get the device to do what it is commandedGet the device to do what it is commanded
• Open Loop ControlOpen Loop Control
• Feedback ControlFeedback Control– Must have a sensorMust have a sensor– Increases Disturbance RejectionIncreases Disturbance Rejection– Decreases Sensitivity to parameter variationDecreases Sensitivity to parameter variation
• Entire specialty of engineeringEntire specialty of engineering
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Examples of Control SystemsExamples of Control Systems
• Toilet BowlToilet Bowl
• Cruise ControlCruise Control
• Thermostat on HouseThermostat on House
• Missile Guidance SystemMissile Guidance System
• Mobile Robot Obstacle AvoidanceMobile Robot Obstacle Avoidance
• Many, many moreMany, many more
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Cruise Control in DetailCruise Control in Detail
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Cruise Control – Open LoopCruise Control – Open Loop
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Cruise Control – Closed LoopCruise Control – Closed Loop
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Generic Control System Block DiagramGeneric Control System Block Diagram
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Sensor IssuesSensor Issues
• Dynamic RangeDynamic Range
• LinearityLinearity
• HysteresisHysteresis
• QuantizationQuantization
• Temperature EffectsTemperature Effects
• BandwidthBandwidth
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Actuator IssuesActuator Issues
• Power / StrengthPower / Strength
• LinearityLinearity
• HysteresisHysteresis
• QuantizationQuantization
• Temperature EffectsTemperature Effects
• BandwidthBandwidth
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Control System – PIDControl System – PID • ProportionalProportional• IntegralIntegral• DerivativeDerivative
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Control System – Motor DriveControl System – Motor Drive
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Control System – Motor DriveControl System – Motor Drive
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Control System – Voice CoilControl System – Voice Coil
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Control System – Voice CoilControl System – Voice Coil
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Control System – HeaterControl System – Heater
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Control System – HeaterControl System – Heater
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Control System – Motor Drive w/PControl System – Motor Drive w/P
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Control System – Voice Coil w/PControl System – Voice Coil w/P
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Control System – Heater w/PControl System – Heater w/P
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Control System – Motor Drive w/IControl System – Motor Drive w/I
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Control System – Heater w/IControl System – Heater w/I
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Control System – Motor Drive w/PIControl System – Motor Drive w/PI
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Control System – Heater w/PIControl System – Heater w/PI
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Integrator Windup – Motor Drive w/PIIntegrator Windup – Motor Drive w/PI
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Integrator Limit – Motor Drive w/PIIntegrator Limit – Motor Drive w/PI
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Control System – Voice Coil w/PDControl System – Voice Coil w/PD
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Control System – Heater w/PIDControl System – Heater w/PID
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PID ControllersPID Controllers
• Proportional gain increases response speed, to Proportional gain increases response speed, to much gain causes system to ring.much gain causes system to ring.
• Integral gain kills steady-state error, wind-up Integral gain kills steady-state error, wind-up and/or too much gain can cause system to go and/or too much gain can cause system to go unstable.unstable.
• Derivative gain adds damping and stability, Derivative gain adds damping and stability, but is sensitive to jitter and noise.but is sensitive to jitter and noise.
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Tuning PID ControllersTuning PID Controllers
• Don’t need to understand Controls or System Don’t need to understand Controls or System to use PID.to use PID.
• Start with pure Derivative control.Start with pure Derivative control.
• Increase gain until system oscillates or you see Increase gain until system oscillates or you see over 50% overshoot.over 50% overshoot.
• Go up to verge of ringing, back off by a factor Go up to verge of ringing, back off by a factor of 2 or 4.of 2 or 4.
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Tuning PID ControllersTuning PID Controllers
• Start with Proportional gain, increase by factor Start with Proportional gain, increase by factor of 8 to 10 until oscillation.of 8 to 10 until oscillation.
• If it is already oscillating, decrease by factor of If it is already oscillating, decrease by factor of 8 to 10.8 to 10.
• From verge of oscillation, back off by factor of From verge of oscillation, back off by factor of 2 to 4.2 to 4.
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Tuning PID ControllersTuning PID Controllers
• Start with Integral gain very small, 0.0001 to Start with Integral gain very small, 0.0001 to 0.01.0.01.
• Increase until you get response you like.Increase until you get response you like.
• Be sure to implement anti-windup.Be sure to implement anti-windup.
• If you have problems, play with sample rate.If you have problems, play with sample rate.
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A 3-Wheeled VehicleA 3-Wheeled Vehicle
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A 3-Wheeled VehicleA 3-Wheeled Vehicle
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A 3-Wheeled VehicleA 3-Wheeled Vehicle
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A 3-Wheeled VehicleA 3-Wheeled Vehicle
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A 3-Wheeled VehicleA 3-Wheeled Vehicle