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Steady State Error in Feedback Control

Steady State Error in Feedback Control. David Giandomenico Team mentor for Lynbrook Robotics – FIRST #846 <DGiandomenico@LynbrookRobotics.com>. Input Speed or Position (joystick, preset button, autonomous, etc.). +. Out. +. G. E.S.C. −. −. Open-Loop Control System.

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Steady State Error in Feedback Control

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  1. Steady State Error inFeedback Control David Giandomenico Team mentor for Lynbrook Robotics – FIRST #846 <DGiandomenico@LynbrookRobotics.com>

  2. InputSpeed or Position (joystick, preset button, autonomous, etc.) + Out + G E.S.C. − − Open-Loop Control System

  3. Simple SystemNo Feedback – “Open Loop” H In H Out CPU+ESC+Motor+Robot

  4. System Error In Out

  5. Feedback System“Closed Loop” H + A Out In S Error = ( In – Out) − CPU ESC + Motor + Robot

  6. Feedback System“Closed Loop” A H + Out In S Error = ( In-Out) − CPU ESC + Motor + Robot

  7. Error in Feedback System A + Out In S Error = ( In-Out) − CPU ESC + Motor + Robot

  8. Feedback System w/Feed Forward ESC + Motor + Robot H + In Out (Velocity) S − A CPU Error = (Out – In) S − +

  9. Feedback Systemw/Feed Forward + H − A Out S S − In Error = ( Out-In) + CPU ESC + Motor + Robot

  10. Feedback Systemw/Feed Forward In + − H A Out S S − Error = (Out-In) + CPU ESC + Motor + Robot

  11. Static Error in Feedback Systemw/Feed Forward In + − H A Out S S − Error = (Out-In) + CPU ESC + Motor + Robot

  12. Comparison: Steady State Error

  13. Steady State Error inFeedback Control David Giandomenico Team mentor for Lynbrook Robotics – FIRST #846 <DGiandomenico@LynbrookRobotics.com>

  14. Error in System In H Out

  15. Feedback System“Closed Loop” + In G Out − H

  16. Undesired Feedback Path

  17. Tip: Setting Gain Fast Option 1: Recompile and upload. Bleah! Option 2: Attach a potentiometer to an analog input (once adjusted, hardwire in code). Not Bad! Option 3: Use EEPROM/Flash Memory to save values. Access values through Operator Interface buttons. Display values on robot or OI. Way Cool!

  18. Simple Speed and Position Test Setup Neodymium MagnetQty 2, for balance.(see the web, eBay!) Custom disk with holes for shaft and magnets Hall effect magnetic sensor<$2 at digikey or mouser R/C Hobby Prop Adapter, 1/8”

  19. + InputSpeed or Position (joystick, preset button, autonomous, etc.) + G Out E.S.C. − − SensorPotentiometer, Encoder,Gear Tooth Sensor, Hall effect Sensor, … Closed-Loop Control System • Yet more sensors: • Accelerometers & GyrosOptical Distance Meas.Cameras,Ultrasonic:

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