Robotics 1
Open-Loop vs Feedback Control
Open-Loop vs Feedback Control
In this video, we learn the difference between open-loop and feedback control. We write some code to implement open-loop control on the PSoC to increment the motor position 90 degrees, and test the code. Then, we set up on-off control, the simplest type of feedback control, using the PSoC, and observe the difference in motor behavior between the open-loop control and the on-off control.
In this video, we apply what we have learned about on-off feedback control to setting the position of a rack and pinion device.
To complete this lab activity, make a video that includes the following in one video:
Undergraduates:
(1) You saying your name
(2) Your rack and pinion moving between two positions using on-off control
Graduates:
(1) You saying your name
(2) Your rack and pinion moving between two positions in stable motion using proportional control
(3) State what value of Kp you found for stable motion
(4) State how much error you have with the value of Kp you decided upon.
Undergraduates:
(1) You saying your name
(2) Your rack and pinion moving between two positions using on-off control
Graduates:
(1) You saying your name
(2) Your rack and pinion moving between two positions in stable motion using proportional control
(3) State what value of Kp you found for stable motion
(4) State how much error you have with the value of Kp you decided upon.
In this video, we learn about the trade-off between speed, stability, and accuracy in a control algorithm. We use our on-off control code for the PSoC from last time, and adjust the speed-accuracy-stability trade-off to achieve stable motion.
In this video, we learn about the simplest type of linear control: proportional control. We learn the difference between on-off control and proportional control, both of which are types of feedback control. We write some code for the PSoC to control the position of the rack and pinion using proportional control, then we find a good proportional gain value by testing different values and observing the results.