ch 1 the nature of management control systems
Motion Control Theory Needed in the Implementation of Practical Robotic Systems 1 pdf
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...
Chapter 3 The State of the Motor Control Industry
8
Chapter 3. The State of the Motor Control Industry
The standard model for a DC motor is shown in Figure 3 .1. This model applies to
the ...
Figure 10 .5. The path of least resistance through the potential field 74
Figure 10 .6. The resulting path through the course 74
Chapter 3 The State of the Motor Control Industry
13
maximum ...
capabilities of the sliding mode controller while maintaining the smooth velocity and
current profiles of the PI controller.
An important assumption made in the design of the torque observer was that the...
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Motion Control Theory Needed In The Implementation Of Practical Robotic Systems 2 Part 1 pot
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...
Other Technology Choices 6
CHAPTER 3. THE STATE OF THE MOTION CONTROL INDUSTRY 8
Velocity Controllers 12
Position Controllers 15
S-curves 17
The No S-curve 21
The Partial S-curve 22
The ... Comparison of three control strategies (J =1 p.u.) 39
Figure 4.7. Comparison of three control strategies (J=2 p.u.) 41
Figure 4.8. Comparison of three control strategies (J =10 p.u.) 41
Figure 5 .1. ...
Figure 8 .1. A typical autonomous vehicle system 66
Figure 10 .1. The Mexican Hat 71
Figure 10 .2. The Shark Fin 72
Figure 10 .3. A map of obstacles and line segments 73
Figure 10 .4. The potential...
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Motion Control Theory Needed in the Implementation of Practical Robotic Systems
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05/11/2013, 21:15
...
Velocity Controllers 12
Position Controllers 15
S-curves 17
The No S-curve 21
The Partial S-curve 22
The Full S-curve 24
Results of S-curves 24
CHAPTER 4. THE STATE OF MOTION CONTROL ACADEMIA ... 0.5 1 1.5
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10 0
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PI, Torque Load
0 0.5 1 1.5
0
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400
600
800
PI, Velocity
0 0.5 1 1.5
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-10 0
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10 0
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SMC, Torque Load
0 0.5 1 1.5
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400
600
800
SMC, Velocity
0 0.5 1 1.5
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SMO, ... implemented with switching.
Chapter 2 Choosing a Motion Control Technology
3
Table 2 .1 presents each of the popular motor types and their most important
characteristics for the purpose of constructing...
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Motion Control Theory Needed in the Implementation of Practical Robotic Systems 2 pdf
Ngày tải lên :
27/06/2014, 18:20
... the subject of the remaining
chapters of Part I.
Chapter 3 The State of the Motor Control Industry
11
The industry has devised several interesting variations and refinements on the PID
compensators ...
speed. All other controlled parameters, acceleration, velocity, and position, are damped in
their rate of change by the inductance of the windings and the inertia of the moving
system. All systems ...
capabilities of the sliding mode controller while maintaining the smooth velocity and
current profiles of the PI controller.
An important assumption made in the design of the torque observer was that the...
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Motion Control Theory Needed In The Implementation Of Practical Robotic Systems 2 Part 2 pptx
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10/08/2014, 05:20
... controller, not the shape of the voltage
or current on the motor leads.
Chapter 2 Choosing a Motion Control Technology
2
Part I. Motion Control
Chapter 2. Choosing a Motion Control Technology ...
Chapter 3 The State of the Motor Control Industry
8
Chapter 3. The State of the Motor Control Industry
The standard model for a DC motor is shown in Figure 3 .1. This model applies to
the ... dictate the selection of the motor type. With this understanding environmental and
load uncertainty will determine the appropriate control scheme. After the limitations of
the available control schemes...
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Motion Control Theory Needed In The Implementation Of Practical Robotic Systems 2 Part 3 ppt
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10/08/2014, 05:20
...
speed. All other controlled parameters, acceleration, velocity, and position, are damped in
their rate of change by the inductance of the windings and the inertia of the moving
system. All systems ...
will have the same behavior. For the discussion that follows, the torque block may be any
type of motor and torque controller.
Chapter 3 The State of the Motor Control Industry
16
POSITION ... 3.3. Bode Diagram of a motor with a PI current controller.
Chapter 3 The State of the Motor Control Industry
15
Position Controllers
Figure 3.6 shows the block diagrams of three popular...
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Motion Control Theory Needed In The Implementation Of Practical Robotic Systems 2 Part 4 ppsx
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10/08/2014, 05:20
... same position change. The result of applying the example
calculation to compute profiles with the same position change are shown in Figure 3 .10 .
Chapter 3 The State of the Motor Control Industry ... twice the velocity change during the
positive jerk yields the velocity change required during the period of full acceleration.
From this the duration of the maximum acceleration segment of the ... that the entire velocity profile must be
calculated before the move begins.
Chapter 3 The State of the Motor Control Industry
21
The No S-curve
A velocity profile can be computed using the...
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