Robotics 2
Controller Tuning from a Model
Controller Tuning from a Model
To complete this lab activity, make a video that includes the following in one video:
(1) You saying your name
(2) Apply the method learned in this video to the model you obtained for your stepper/camera system two classes ago, in the empirical modeling from the time response section. You should show how you found the model for your plant, and then also show how you found the Kp value.
(1) You saying your name
(2) Apply the method learned in this video to the model you obtained for your stepper/camera system two classes ago, in the empirical modeling from the time response section. You should show how you found the model for your plant, and then also show how you found the Kp value.
In this video, we learn how to find a good proportional control gain from a model of our system that we have obtained empirically. We will first see how to find the model of the 'plant' (the thing we are trying to control) from our model for the whole controlled system. Then, we will see how to calculate a proportional gain from the plant model. This video uses the rack and pinion as an example, but all of the concepts apply also to the stepper and camera setup, which we are using in this unit of class.