Tham khảo tài liệu 'crc press mechatronics handbook 2002 by laxxuss episode 3 part 11', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | FIGURE Two degree-of-freedom PUMA 560 robotic manipulator. where Ap Bp Cp I2 X 2 02 x 2 The system poles are s s . Eigenvector analysis shows that the fast instability at s is primarily associated with the upper shorter link while the slower instability at s is primarily associated with the lower longer link. The system does not possess any natural integrators . no zero eigenvalues and as expected the singular values ơ PỢtt are flat at low frequencies see Fig. . Closed Loop Objectives A controller to be implemented within a negative feedback loop is sought. The closed loop system should exhibit the following properties 1 closed loop stability 2 zero steady state error to step reference commands 3 good low frequency reference command following step commands followed with little overshoot within 3 s 4 good low frequency disturbance attenuation 5 good high frequency noise attenuation 6 good stability robustness margins at the plant output. Each step of the control system design process is now described. A central idea is the formation of a so-called design plant Pd from the original plant P. The design plant Pd is what is submitted to our H -LQG LTR design machinery. Step 1 Augment Plant P with Integrators to Get Design Plant Pd A B C In order to guarantee zero steady-state error to step reference commands we begin by augmenting the plant P Ap Bp Cp with integrators one in each control channel to form the design plant Pd A B C . Pd P I2x2 s . This is done as follows 02x2 _Bp 02x4 Ap A 2002 CRC Press LLC FIGURE Two degree-of-freedom PUMA 560 robotic manipulator. where Ap .
