Motor Control Massachusetts Institute of （电机控制麻省理工学院的）.pdfVIP

Motor Control RSS Lecture 3 Monday, 7 Feb 2011 Prof. Daniela Rus (includes some material by Prof. Seth Teller) Jones, Flynn Seiger § 7.8.2 /6.141/ Today: Control •  Early mechanical examples •  Feed-forward and Feedback control •  Terminology •  Basic controllers: –  Feed-Forward (FF) control –  Bang-Bang control –  Proportional (P) control –  The D term: Proportional-Derivative (PD) control –  The I term: Proportional-Integral (PI) control –  Proportional-Integral-Derivative (PID) control •  Gain selection •  Applications The Role of Control •  Many tasks in robotics are defined by achievement goals –  Go to the end of the maze –  Push that box over here •  Other tasks in robotics are defined by maintenance goals: –  Drive at 0.5m/s –  Balance on one leg The Role of Control •  Control theory is generally used for low-level maintenance goals •  General notions: –  output = Controller(input) –  output is control signal to actuator (e.g., motor voltage/current) –  input is either goal state or goal state error (e.g., desired motor velocity) •  Controller is stateless What is the point of control? •  Consider any mechanism with adjustable DOFs* (e.g. a valve, furnace, engine, car, robot…) •  Control is purposeful variation of these DOFs to achieve some specified maintenance state –  Early mechanical examples: float valve, steam governor *DOFs = Degrees of Freedom Motor Control: Open Loop •  Give robot task with no concern for the environment •  Applications: ??? •  Open loop: signal to action •  Not checked if correct action was taken •  Example: go