AUTONOMOUA_ROBOTICS_Week333333_5[1].pptx

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1. Autonomus Robotics Dr. Reda A bdel Wahhab Section 5

2. Dc motor control DC motors are workhorses in many applications, and controlling them precisely is essential. A DC motor controller is an electronic circuit that manipulates a DC motor's performance, typically focusing on: Speed:  This is the most common aspect of control. Direction:  The controller can reverse the motor's direction. Torque:  This refers to the motor's twisting force. Control Systems: What Are They? (Open-Loop & Closed-Loop Control System) An open-loop control system is a type of control system where the output of the system is not measured and fed back to the controller. This means that the control action is based solely on the input signal, and there is no mechanism to adjust the control action based on how well the system is performing

3. open-loop control system A closed-loop motor control system, also known as feedback control, is a more advanced approach compared to open-loop systems. It addresses the limitations of open-loop control by incorporating a feedback mechanism to ensure precise and accurate motor operation.

4. Pulse Width Modulation (PWM) Definition : A modulation technique where the width of the pulses of the pulsed carrier wave is changed according to the modulating signal is known as  Pulse Width Modulation (PWM) . It is also known as  Pulse duration modulation (PDM) . Basics of Pulse Width Modulation It is a type of  Pulse Time Modulation (PTM) technique  where the timing of the carrier pulse is varied according to the modulating signal. In pulse duration modulation (PDM), the amplitude of the pulse is kept constant and only the variation in width is noticed. As the information component is present in width of the pulses. Thus, during signal transmission, the signal undergoes pulse width modulation. Due to constant amplitude property, it gets less affected by noise.  As the width of the pulses contains information. Thus the noise factor does not cause much signal distortion. Hence the immunity to the noise of a PWM system is better than the  PAM  system.

5. What are Robot Joints? Robot joints refer to the movable components of the robot that result in relative motions between adjacent links. In this context, links are used to refer to the rigid members connecting the joints for clear and adequate functioning.  Types of Mechanical Joints for Robots

6. Transient Response from Transfer Function Representation Understanding Transient Response: It describes a system's behavior during the  transition period  after an input change. This encompasses the system's journey to reaching a stable state post-change. It's also referred to as the dynamic response or time-domain behavior. Transfer Function Representation: This is a mathematical representation of a system's behavior in the Laplace domain. It relates the system's input to its output in the frequency domain. Transfer functions are crucial for analyzing stability, system characteristics, and designing control systems. The Connection Between Them: The transient response can be obtained by transforming the transfer function back into the time domain. This is achieved using the inverse Laplace transform. Various methods exist for manipulating the transfer function, including: Partial fraction decomposition Conversion tables Computer software

7. Steps to Analyze Transient Response from Transfer Function: Obtain the system's transfer function. Define the input type (step, impulse, etc.). Calculate the inverse Laplace transform of the transfer function. Analyze the system's behavior in the time domain. Determine key transient response characteristics such as: Rise time Settling time Peak overshoot Steady-state value Examples of Transient Response in Different Systems: First-order system Second-order system Resonant system Applications of Transient Response: Designing control systems Analyzing behavior of dynamic systems Evaluating system performance

8. Example https://lpsa.swarthmore.edu/Transient/TransMethTF.html

9. Thanks