pitsco 41427 Builder'S Manual Download

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Robot Builder’s Guide

for NI myRIO

41427

POWERED BY

Summary of Contents for 41427

Page 1: ...RobotBuilder sGuide for NI myRIO 41427 POWERED BY...

Page 2: ......

Page 3: ...ction Instructions 19 Standard Servo Mount Assembly 19 Gripper Assembly 22 DC Motor Mount Assembly 26 Gyroscope Sensor Mount Assembly 28 IR Rangefinder Sensor Mount Assembly 29 Motor Controller Board...

Page 4: ...articles of clothing clear of gears and moving parts Never pick up the robot while it is moving or the servo motors are running Remove any burrs caused by cutting the metal beams Electrical Make sure...

Page 5: ...e of part Instructions for purchasing additional parts are found at the end of this section The beams are named by the number of small holes on one side of the beam Do not select beams by counting the...

Page 6: ...nnector 40212 4x 90 Degree Beam Connector 40211 4x Tee Beam Connector 40213 4x Beam End Connector 40214 4x Beam Extension 40322 4x Straight Beam Connector 40215 Mechanical Parts 4 Set Components Back...

Page 7: ...x Tee Bracket 40210 24x Quick Rivet Peg 40220 24x Quick Rivet Connector 40219 50x Thumbscrew 40323 24x Wing Nut 40221 10x 90 Degree Cross Block Connector 40217 10x Straight Block Connector 40216 4x Be...

Page 8: ...Wheel Tire 40222 4x 80 Tooth Gear 40224 4x 40 Tooth Gear 40223 1x Blue Racquetball 43121 2x Battery Holder and Bungee 40236 6x 80 mm Axle 40225 6x 40 mm Axle 40226 8x Shaft Collar 40229 Measure 80 mm...

Page 9: ...144 1x Gyro 3 Axis Digital Sensor Kit 41196 2x Standard Servo 40538 2x Servo Shaft Hub 40230 2x Servo Mount 40232 2x Digilent Motor Shaft Adapter 41139 2x Digilent DC Motor Mount 41138 2x Digilent DC...

Page 10: ...1136 1x 10 Cell AA NiMH Battery Pack 41135 1x myRIO Control Board Mount Bracket 41140 myRIO sold separately For more information visit ni com myrio 1x myRIO Controller Mount 41137 3x Digilent Sensor M...

Page 11: ...ide and on each individual packing label they are identified by a PITSCO part number Corresponding Digilent part numbers are provided below Visit Digilent com and search using the Digilent part number...

Page 12: ...Introduction to Building with TETRIX PRIME Connectors fit inside beams and come in straight 90 degree tee and corner designs 10 Introduction to Building with TETRIX PRIME Back to Contents page...

Page 13: ...or securing connectors Press the rivet in place on the beam and use the peg to spread the rivet to secure the connection Using quick rivets on two sides of the connection will make it more stable Intr...

Page 14: ...s TIP Wing Nuts are placed in position first and Thumbscrews are tightened into them After Wing Nuts are placed and seated properly they cannot be turned TIP Thumbscrews should be snug but not overtig...

Page 15: ...or a tee connection 60 degree connection or 90 degree connection Brackets should be used in pairs with two brackets on opposite sides of a beam Brackets are secured using quick rivets and pegs or thum...

Page 16: ...End connectors straight block connectors and 90 degree cross block connectors are secured using a thumbscrew through the beam and into the connector 14 Introduction to Building with TETRIX PRIME...

Page 17: ...fter the thumbscrew is used to secure the end of the connector a quick rivet and peg or a thumbscrew and wing nut are used to secure the intersecting beam Introduction to Building with TETRIX PRIME 15...

Page 18: ...it should be supported at two points Place a bronze bushing on opposite sides of a beam and place the axle through the bushings Secure the axle to a stop collar wheel gear or hub 16 Introduction to Bu...

Page 19: ...ons for the expansion builds might or might not show installing Socket Head Cap Screws Please keep in mind that if your parts already have Socket Head Cap Screws installed and the directions call for...

Page 20: ......

Page 21: ...Ball Point Hex Driver Remove the white plastic servo horn attached to the servo Retain the screw for future use but discard the white plastic servo horn Attach the Standard Servo label to the servo As...

Page 22: ...Step 1 Step 2 Step 4 Step 3 TIP Ensure that when the servo hub is positioned as pictured it can rotate both left and right 20 Subassembly Construction Instructions...

Page 23: ...Finished Assembly Step 5 Subassembly Construction Instructions 21...

Page 24: ...Plate Gripper Pincer Standard Servo 12x Pivot Washer 11x Self Tapping Screw TIP Before attaching the Left Gripper Gear Arm you must make sure the servo is in the neutral position Please make sure the...

Page 25: ...Step 5 Step 6 Step 7 Step 9 Step 8 Step 10 Subassembly Construction Instructions 23...

Page 26: ...Step 12 Step 14 Step 16 Step 11 Step 13 Step 15 24 Subassembly Construction Instructions...

Page 27: ...Step 18 Step 17 Finished Assembly Subassembly Construction Instructions 25...

Page 28: ...tscrew 40516 Step 1 Step 2 Step 4 Step 3 After unpacking the Digilent DC Gear Motor inspect the electronic components on the encoder board before snapping the encoder cap in place If components appear...

Page 29: ...Step 6 Finished Assembly Step 5 Subassembly Construction Instructions 27...

Page 30: ...Step 2 Gyroscope Sensor Mount Assembly Digilent Gyro Sensor 41144 Digilent Sensor Mounting Clip 41148 Thumbscrew 40323 4 Hole Beam 40201 Wing Nut 40221 28 Subassembly Construction Instructions Back to...

Page 31: ...R Rangefinder Sensor Mount Assembly Hex Nut Hex Nut Machine Screw Machine Screw Digilent Sensor IR Rangefinder 41145 Mounting Plate 41308 Step 2 Subassembly Construction Instructions 29 Back to Conten...

Page 32: ...ount Assembly Attach myRIO Motor Controller Board to Beam Attach myRIO Motor Controller Board to myRIO Step 1 Step 3 Step 1 Step 1 Step 2 Step 2 Step 2 Step 3 myRIO Motor Controller Board 41136 myRIO...

Page 33: ...ion Cable Attach Ambient Light Sensor and Extension Cable Step 1 Step 2 Step 1 Step 2 Attach Digilent Gyro Sensor and Extension Cable Step 1 Step 2 Attach motor controller board to myRIO via the MXP e...

Page 34: ...mplex controls algorithms such as PWM and PID Communicate over Wi Fi to control and monitor your robot remotely Deploy programs to allow your robot to run autonomously Use the motor board to interface...

Page 35: ...if you can turn it on drive it fly it changes are NI and LabVIEW made it happen LabVIEW uses a dataflow model instead of sequential lines of text This empowers coders to write functional code using a...

Page 36: ...Video Series http www ni com academic students learn labview Learning with LabVIEW by R H Bishop https decibel ni com content docs DOC 39874 Self paced online training http sine ni com tacs app fp p...

Page 37: ...d The purpose of the motor controller board is to provide extra power and signal conditioning to motor output signals while also providing protection to myRIO It also breaks out all the pins needed fo...

Page 38: ...s well as primary functions Power Port The power port consists of three terminals each including a 12V pin and a ground pin Use one of the terminals to supply power to the motor board and myRIO by plu...

Page 39: ...portional to the measured distance Signal conditioning can be done in LabVIEW code to convert the analog signal to units of length Learn more Specifications http store digilentinc com ir range sensor...

Page 40: ...ludes a chip select data line clock line power and ground Learn more Specifications http store digilentinc com pmodals ambient light sensor Project Essentials Guide chapter 24 http www ni com tutorial...

Page 41: ...ect Essentials Guide chapter 22 http www ni com tutorial 14621 en Gyroscope Sensor Input Port The gyroscope sensor input port of the motor controller board is a direct breakout of the myRIO I2C and di...

Page 42: ...ontroller electronics to provide relatively precise angular position The servo included in the kit is a standard servo which means it can rotate about 180 degrees The pinout of the servo motor include...

Page 43: ...ver with protection circuitry to convert the PWM and digital signals to a differential analog voltage signal which is passed to the DC motor Though it can be repurposed for other motors the port is de...

Page 44: ...Blue 18 A ENC A 1 Encoder Ground Green n a n a 1 Encoder VCC Brown n a n a 1 Motor Red 27 PWM speed control 15 DIO direction control A PWM0 A DIO2 Motor Black 2 Encoder B Purple 22 on opposite MXP por...

Page 45: ...ontroller in the second MXP port to avoid the conflict The chart below shows the ports that can be used simultaneously indicated with a and the ports that cannot be used simultaneously indicated with...

Page 46: ...to myRIO and testing the onboard devices 3 At the end of the Getting Started Wizard select Start my first project now to be guided through your first experience in LabVIEW using the locally hosted web...

Page 47: ...etup instructions navigate to Desktop National Instruments Pitsco Tetrix Prime for NI myRIO Test Code and open Control System Test Project Connect to myRIO by right clicking myRIO 1900 and clicking co...

Page 48: ...corner Place your hand about 10 inches away from the sensor and move it back and forth Confirm that the voltage decreases as your hand moves away from the sensor and that it increases as your hand mov...

Page 49: ...Control System Test Project Connect to myRIO by right clicking myRIO 1900 and clicking connect Allow a few moments to connect Expand the myRIO dropdown and navigate to Testing Your System Main_Ambien...

Page 50: ...n the block diagram by pressing Ctrl E and then press Ctrl E again to return to the front panel Step 4 Run the VI by pressing the arrow in the left hand corner Move the hardware in all different direc...

Page 51: ...right clicking myRIO 1900 and clicking connect Allow a few moments to connect Expand the myRIO dropdown and navigate to Testing Your System Main_SERVO vi Feel free to explore the code on the block dia...

Page 52: ...about 30 seconds to boot Step 4 After completing the LabVIEW and myRIO Setup instructions navigate to Desktop National Instruments Pitsco Tetrix Prime for NI myRIO Test Code and open Control System T...

Page 53: ...that the encoder counter value stops changing Next set the motor1 PWM duty cycle to 10 and confirm that motor1 starts spinning in the opposite direction and that the encoder counter value is decreasi...

Page 54: ......

Page 55: ...e and converted to centimeters It can be used to detect distance from other objects or distinguish color material differences based on IR reflectivity The pincer end effector is controlled by a servo...

Page 56: ...Partial assembly should look like this 12x Thumbscrew 40323 2x 15 Hole Beam 40207 6x 90 Degree Cross Block Connector 40217 Parts Needed 1x 13 Hole Beam 40206 2x 5 Hole Beam 40202 54 Rover Vehicle Ass...

Page 57: ...Step 1 0 Step 1 1 Rover Vehicle Assembly 55...

Page 58: ...Step 1 2 Step 1 3 56 Rover Vehicle Assembly...

Page 59: ...Step 1 4 Rover Vehicle Assembly 57...

Page 60: ...Step 2 Parts Needed 1x 8 Hole Beam 40205 4x Thumbscrew 40323 2x Straight Block Connector 40216 2x Battery Holder 40236 Partial assembly should look like this 58 Rover Vehicle Assembly...

Page 61: ...Step 2 0 Step 2 1 Rover Vehicle Assembly 59...

Page 62: ...Step 2 2 60 Rover Vehicle Assembly...

Page 63: ...Parts Needed Partial assembly should look like this 10x Thumbscrew 40323 4x Straight Block Connector 40216 1x 5 Hole Beam 40202 1x 4 Hole Beam 40201 1x myRIO Controller Mount 41137 Rover Vehicle Assem...

Page 64: ...Step 3 0 Step 3 1 62 Rover Vehicle Assembly...

Page 65: ...Step 3 2 Step 3 3 Rover Vehicle Assembly 63...

Page 66: ...Step 3 4 Step 3 5 64 Rover Vehicle Assembly...

Page 67: ...0 mm Axle 40226 2x 80 mm Axle 40225 2x Thumbscrew 40323 2x Shaft Collar 40229 Rotate build to match this view 2x 40 Tooth Gear 40223 2x Digilent DC Motor and Mount 8x Bronze Bushing 40227 2x 90 mm Whe...

Page 68: ...Step 4 0 Step 4 1 66 Rover Vehicle Assembly...

Page 69: ...Step 4 2 Step 4 3 Rover Vehicle Assembly 67...

Page 70: ...Step 4 4 Step 4 5 68 Rover Vehicle Assembly...

Page 71: ...Step 4 6 Step 4 7 Rover Vehicle Assembly 69...

Page 72: ...Hole Beam 40201 1x Beam End Connector 40214 1x Beam Attachment Hub 40228 Rotate build to match this view 1x 40 mm Axle 40226 1x 80 mm Axle 40225 3x Thumbscrew 40323 1x Shaft Collar 40229 4x Bronze Bu...

Page 73: ...Step 5 1 Step 5 0 Step 5 2 Step 5 3 Step 5 4 Step 5 5 Rover Vehicle Assembly 71...

Page 74: ...Step 5 6 Step 5 7 72 Rover Vehicle Assembly...

Page 75: ...humbscrew 40323 1x Digilent Sensor Mounting Clip 41148 1x myRIO Controller 2x Wing Nut 40221 Rotate build to match this view 1x 10 Cell AA NiMH Battery Pack 41135 1x Digilent Sensor IR Rangefinder wit...

Page 76: ...Step 6 0 Step 6 1 74 Rover Vehicle Assembly...

Page 77: ...Step 6 2 Step 6 3 Rover Vehicle Assembly 75...

Page 78: ...Step 6 4 76 Rover Vehicle Assembly...

Page 79: ...DC Power Plug and Battery Cable attached Step 7 Finished Assembly See sections Electronics Overview and Specifications and Control System Set Up and Testing for more information and images of the sens...

Page 80: ...4 Connect the servo cable to the motor board port labeled Servo 2 Note that the cable should be oriented so that the red wire is lined up with the and the black wire is lined up with the Step 7 5 Use...

Page 81: ...ht click the NI myRIO line item and select Properties Update the IP address and click OK 8 5 Right click the NI myRIO line item and select Connect 8 6 Open Rover RT Main vi by double clicking the line...

Page 82: ...es associated with introducing sensors and feedback loops are avoided However the open loop control system is highly sensitive to external disturbances represented by Td s and to both knowledge of and...

Page 83: ...measurement noise attenuation and reduction of the steady state error of the system and iii ready control and adjustment of the transient response of the system by skillful design of the controller H...

Page 84: ......

Page 85: ...point on the front panel of the LabVIEW VI The system gradually moves the ball to the position using PID control After building the assembly the user must calibrate the arm by indicating the servo pos...

Page 86: ...1x 13 Hole Beam 40206 1x 6 Hole Beam 40203 2x 8 Hole Beam 40205 6x 90 Degree Bracket 40208 Parts Needed Step 1 Partial assembly should look like this 3x 5 Hole Beam 40202 2x Beam End Connector 40214...

Page 87: ...Step 1 0 Step 1 1 Step 1 2 BalancingArmAssembly 85 Balancing Arm Assembly 85...

Page 88: ...Step 1 4 Step 1 3 86 BalancingArmAssembly 86 Balancing Arm Assembly...

Page 89: ...Step 1 6 Step 1 5 BalancingArmAssembly 87 Balancing Arm Assembly 87...

Page 90: ...Step 1 8 Step 1 7 88 BalancingArmAssembly 88 Balancing Arm Assembly...

Page 91: ...Step 1 10 Step 1 9 BalancingArmAssembly 89 Balancing Arm Assembly 89...

Page 92: ...Step 1 12 Step 1 11 90 BalancingArmAssembly 90 Balancing Arm Assembly...

Page 93: ...Step 1 14 Step 1 13 BalancingArmAssembly 91 Balancing Arm Assembly 91...

Page 94: ...Step 1 16 Step 1 15 92 BalancingArmAssembly 92 Balancing Arm Assembly...

Page 95: ...Step 1 17 BalancingArmAssembly 93 Balancing Arm Assembly 93...

Page 96: ...40323 1x Quick Rivet Connector 40219 1x Quick Rivet Peg 40220 1x 13 Hole Beam 40206 1x 6 Hole Beam 40203 4x 90 Degree Bracket 40208 Parts Needed 2x Straight Beam Connector 40215 7x Wing Nut 40221 2x...

Page 97: ...Step 2 0 Step 2 1 BalancingArmAssembly 95 Balancing Arm Assembly 95...

Page 98: ...Step 2 2 Step 2 3 96 BalancingArmAssembly 96 Balancing Arm Assembly...

Page 99: ...Step 2 4 Step 2 5 BalancingArmAssembly 97 Balancing Arm Assembly 97...

Page 100: ...Step 2 6 Step 2 7 98 BalancingArmAssembly 98 Balancing Arm Assembly...

Page 101: ...Step 2 8 Step 2 9 BalancingArmAssembly 99 Balancing Arm Assembly 99...

Page 102: ...Step 2 10 Step 2 11 100 BalancingArmAssembly 100 Balancing Arm Assembly...

Page 103: ...Step 2 12 Step 2 13 BalancingArmAssembly 101 Balancing Arm Assembly 101...

Page 104: ...Parts Needed Step 3 Partial assembly should look like this 4x Thumbscrew 40323 2x Shaft Collar 40229 1x 80 mm Axle 40225 2x 80 Tooth Gear 40224 102 BalancingArmAssembly 102 Balancing Arm Assembly...

Page 105: ...Step 3 0 Step 3 1 BalancingArmAssembly 103 Balancing Arm Assembly 103...

Page 106: ...Step 3 2 Step 3 3 104 BalancingArmAssembly 104 Balancing Arm Assembly...

Page 107: ...like this 1x Digilent Sensor Mounting Clip 41148 1x Digilent Sensor IR Rangefinder with Mounting Plate 2x Shaft Collar 40229 3x 40 mm Axle 40226 6x Bronze Bushing 40227 1x 6 Hole Beam 40203 1x Standa...

Page 108: ...Step 4 0 Step 4 1 106 BalancingArmAssembly 106 Balancing Arm Assembly...

Page 109: ...Step 4 2 Step 4 3 BalancingArmAssembly 107 Balancing Arm Assembly 107...

Page 110: ...Step 4 4 Step 4 5 108 BalancingArmAssembly 108 Balancing Arm Assembly...

Page 111: ...Step 4 6 Step 4 7 BalancingArmAssembly 109 Balancing Arm Assembly 109...

Page 112: ...Step 4 8 Step 4 9 110 BalancingArmAssembly 110 Balancing Arm Assembly...

Page 113: ...Step 4 10 BalancingArmAssembly 111 Balancing Arm Assembly 111...

Page 114: ...k like this Step 5 Parts Needed 1x myRIO Controller 1x 10 Cell AA NiMH Battery Pack 41135 2x Thumbscrew 40323 2x Battery Holder and Bungee 40236 1x myRIO Controller Mount 41137 112 BalancingArmAssembl...

Page 115: ...Step 5 1 Step 5 0 BalancingArmAssembly 113 Balancing Arm Assembly 113...

Page 116: ...Step 5 3 Step 5 2 114 BalancingArmAssembly 114 Balancing Arm Assembly...

Page 117: ...Finished assembly should look like this BalancingArmAssembly 115 Balancing Arm Assembly 115...

Page 118: ...Cable attached Step 6 Finished Assembly See sections Electronics Overview and Specifications and Control System Set Up and Testing for more information and images of the sensors actuators and motor bo...

Page 119: ...ery cable to connect from the T1 port of the motor board red cable to black cable to to the battery cord Step 6 5 Use the DC power cable to connect from the T2 port of the motor board red cable to bla...

Page 120: ...Front Panel 7 7 Every time you run the Balance Arm code you must calibrate the minimum and maximum edges of the beam to account for variations among IR sensors To do so Gently roll the ball from one e...

Page 121: ...riginal set point 7 11 Move the set point to other locations allow the ball to settle and notice The setpoint gradually changes to improve stability As the ball moves further away from the IR range se...

Page 122: ...ystem is stable then when we place the ball at the setpoint and gently push it the actuated arm will rotate according to commands from the controller to return the ball to the setpoint If the system i...

Page 123: ...cularly important structure in practice The transient performance of the closed loop system is determined by the PID controller gains The PID controller has three gains the proportional gain denoted b...

Page 124: ......

Page 125: ...al velocity and communicates with myRIO using the I2C communication protocol A complementary filter is used on the accelerometer and gyroscope data to eliminate the high frequency noise of the acceler...

Page 126: ...Parts Needed 6x Thumbscrew 40323 2x 13 Hole Beam 40206 4x Quick Rivet Connector 40219 4x Quick Rivet Peg 40220 2x 6 Hole Beam 40203 2x 90 Degree Bracket 40208 4x 90 Degree Beam Connector 40211 6x Win...

Page 127: ...Step 1 0 Step 1 1 Self Balancing Robot Assembly 125...

Page 128: ...Step 1 2 Step 1 3 126 Self Balancing Robot Assembly...

Page 129: ...Step 1 4 Step 1 5 Step 1 6 Self Balancing Robot Assembly 127...

Page 130: ...tep 2 Partial assembly should look like this Parts Needed 8x Thumbscrew 40323 2x Beam End Connector 40214 6x Wing Nut 40221 2x 15 Hole Beam 40207 4x Tee Bracket 40210 128 Self Balancing Robot Assembly...

Page 131: ...Step 2 0 Step 2 1 Self Balancing Robot Assembly 129...

Page 132: ...Step 2 2 Step 2 3 130 Self Balancing Robot Assembly...

Page 133: ...Step 2 4 Step 2 5 Self Balancing Robot Assembly 131...

Page 134: ...x Thumbscrew 40323 4x Quick Rivet Connector 40219 4x Quick Rivet Peg 40220 6x Wing Nut 40221 4x Tee Bracket 40210 2x Beam End Connector 40214 4x 90 Degree Cross Block Connector 40217 Partial assembly...

Page 135: ...Step 3 0 Step 3 1 Self Balancing Robot Assembly 133...

Page 136: ...Step 3 2 Step 3 3 134 Self Balancing Robot Assembly...

Page 137: ...Step 3 4 Step 3 5 Self Balancing Robot Assembly 135...

Page 138: ...Step 3 6 Step 3 7 136 Self Balancing Robot Assembly...

Page 139: ...Step 3 8 Step 3 9 Self Balancing Robot Assembly 137...

Page 140: ...Step 3 10 Step 3 11 138 Self Balancing Robot Assembly...

Page 141: ...Step 3 12 Self Balancing Robot Assembly 139...

Page 142: ...ire 40222 2x 40 mm Axle 40226 4x Bronze Bushing 40227 4x Thumbscrew 40323 2x Wing Nut 40221 2x Battery Holder 40236 6x Setscrew 40516 1x 10 Cell AA NiMH Battery Pack 41135 2x Digilent DC Motor and Mou...

Page 143: ...Partial assembly should look like this Self Balancing Robot Assembly 141...

Page 144: ...Step 4 1 Step 4 0 142 Self Balancing Robot Assembly...

Page 145: ...Step 4 3 Step 4 2 Self Balancing Robot Assembly 143...

Page 146: ...Step 4 5 Step 4 4 144 Self Balancing Robot Assembly...

Page 147: ...Step 4 7 Step 4 6 Self Balancing Robot Assembly 145...

Page 148: ...Step 4 8 Step 4 9 146 Self Balancing Robot Assembly...

Page 149: ...Step 4 10 Self Balancing Robot Assembly 147...

Page 150: ...Step 5 Finished assembly should look like this Parts Needed 6x Thumbscrew 40323 1x myRIO Controller 1x myRIO Controller Mount 41137 148 Self Balancing Robot Assembly...

Page 151: ...Step 5 0 Step 5 1 Self Balancing Robot Assembly 149...

Page 152: ...Step 5 2 150 Self Balancing Robot Assembly...

Page 153: ...Finished assembly should look like this Self Balancing Robot Assembly 151...

Page 154: ...Sensor 41144 Step 6 Finished Assembly See Setup Hookup Tips section on pages 45 50 for instructions for setting up the motor controller assembly and connecting the DC Motors and myGyro to the motor b...

Page 155: ...Motor 1 and Motor 2 ports on the motor board Using the jumper wires connect Pin A to MXP B pin 18 and Pin B to MXP B pin 22 Reference the myRIO MXP connector pinout in the Electronics Overview and Spe...

Page 156: ...he myRIO wireless adapter IPv4 address in the Network Adapters window of the myRIO Configuration menu If it doesn t Right click the NI myRIO line item and select Properties Update the IP address and c...

Page 157: ...cing robot or push it too hard it will become uncalibrated Press Button0 on the bottom of myRIO to turn off the wheels and control system and then repeat steps 7 7 and 7 8 to balance again Next Steps...

Page 158: ...that this means that the closed loop feedback system must have a bounded output to every bounded input This is known as absolute stability We might wonder about marginally stable closed loop systems...

Page 159: ...ut is a fundamental design challenge no matter what controller structure is employed Fortunately there is often a separation of frequencies over which the external disturbances and measurement noise e...

Page 160: ...ishop 13th Ed Pearson Education Inc 2017 Figure 4 Closed loop feedback control of an open loop unstable plant Y s Plant Controller Gc s G s Actuator Balancing Robot Td s R s 0 Sensor H s N s Ea s Desi...

Page 161: ...SCO TETRIX PRIME for NI myRIO ni com tetrix prime To learn more about myRIO ni com myrio To learn more about LabVIEW ni com labview To learn more about the Pitsco TETRIX Building System TETRIXrobotics...

Page 162: ...Call Toll Free 800 835 0686 FreeFax 800 533 8104 Visit Us Online at pitsco com RobotBuilder sGuide for NI myRIO...

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