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Control and System Engineering. |
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Let consider how we operate a robot arm actuated by
electric motors properly. Basically for the end , as shown
Fig.1 we measure the position (OUTPUT) of the arm using sensors and the
input voltage (INPUT) to the motors are determined so that
the error between the measured position and the desired one
will be small.
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This kind of mechanism in which the input is
determined based on the output, or as in Fig.1 called a 'block
diagram', output signal is put back to the input is called
'feedback' control.
As in Fig.2 let assume that a constant desired level or more precisely a
step reference is given as a desired reference signal for a rotation of
a motor. If a constant
input voltage is given to a motor, the rotation of the motor will behave
as a plot indicated by 'Uncontrolled'. If the control voltage is
determined properly, the rotation of the motor will become to a plot
indicated by 'Controlled.' This kind of mechanisms are very widely used
in our daily environment. For example, running speed of tape drive in
'Walkman' is kept constant in a shaky train, an air plain flies to a
desired destination without human control, and a rocket is launched in
the air without stumbling (Did you think why a rocket can not tumble down
without fins ?), etc. In such systems (feedback) control is used very
effectively.
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As in the examples 'control' is action or methodology with which objective
systems behave as desired by system designers.
In the above a control of a single robot arm was considered, however, in
order to build a car, for example, many robots and machines should
cooperate with each other to make a production line. As the production
line, 'system' is a collection of elements, e.g., robots and machines,
which cooperate or interfere with each other.
Our department, department of control and systems engineering, provides
students a systematic methodology to deal with the control and systems
for design of robots, production lines, air plains, etc. |
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