ACTUATOR
BLOCK DIAGRAM
EXAMPLES
ME 439
118
Robot Arm A conceptual design for a position control system is
shown in the schematic below:
cf. Gopal
An application of such a system is in the area of robotics for the
position control of arms. Typically, each
ME 439
Design of Machine Controls
Volume 1
1
ME 439 Course Outline
Block Diagrams
Actuators
DC Motor
AC Motor
Hydraulic
Pneumatic
System Performance & Characterization
Sensitivity
Why Use Feedback ?
Steady State Errors
Performance Indices
Tran
TYPES OF ACUATORS IN CONTROLS
PNEUMATIC
MUSCLES TAKE THE FORM OF AN ACTUATING
CYLINDER
ELECTRICAL
ACTUATORS ARE DC OR AC MOTORS
HYDRAULIC
LINEAR ACTUATORS WITH LARGE POWER
AMPLIFICATION ARE USED
45
ACTUATOR COMPARSION
CF. ROBOTICS BY NIKU
46
PNEUMAT
PID
COMPENSATOR
DESIGN
PROCEDURE
ME 439
526
KI
C PID ( s ) K P
KDs
s
KPs KI KDs2
C PID ( s )
s
2 KP
KI
K D s
s
KD
KD
C PID ( s )
Eqn. (1)
s
Let,
C PD ( s ) K PD ( s z1 )
Eqn. (2)
(s z2 )
C PI ( s ) K PI
p1
Eqn. (3)
527
C PID ( s ) C PD ( s )C PI (
ROUTH STABILITY CRITERION
ME 439
252
ROUTH STABILITY CRITERION
THE ROUTH CRITERION IS A TECHNIQUE FOR
DETERMINING CONTINUOUS SYSTEM STABILITY
FOR SYSTEMS WITH AN nth ORDER
CHARACTERISTIC EQUATION OF THE FORM:
an s an1s
n
n 1
a1s a0 0
THE CRITERION IS A
ME 439
Design of Machine Controls
Volume 2
382
ME 439
FREQUENCY
RESPONSE
METHODS
383
FREQUENCY RESPONSE METHODS
Frequency Response the steady state response
of a system to a sinusoidal input signal
(aka SINE SWEEP)
Y ( s) T ( s) R( s)
Consider
r (t ) A