Tugino ST MT [email protected]/files/2012/07/7-Kontrol-Robot.pdfsensor)...
Transcript of Tugino ST MT [email protected]/files/2012/07/7-Kontrol-Robot.pdfsensor)...
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Tugino ST [email protected]
Jurusan Teknik ElektroSTTNAS Yogyakarta
Robot Control
Control MethodsConventional Joint PID Control
Widely used in industryAdvanced Control Approaches
Computed torque approachNonlinear feedback Ad ti t l
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Adaptive controlVariable structure control….
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Kontrol ON/OFF
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Sistem Kontrol Robotik(kontrol robot loop terbuka/tertutup)
Referensi Kontroler Robot
Gerak
Referensi
Hasil Gerak sesungguhnya (dibaca oleh
sensor)
Error = Gerak referensi – Gerak aktual
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Robot
Referensi Gerak
Kontroler
sensor)
Gerak aktual
+
-
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Teori Dasar:Penggunaan Transformasi Laplace
∫∞
)()}({ dff st∫ −=0
)()}({ dtetftfL st
jika )()}({ sXtxL =maka )()}({ ssXtxL =& ))(()}({ ssXstxL =&&
k i i
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percepatan/akselerasi
s1
s1
kecepatan posisi
)(tx&& )(tx& )(tx
s(s X(s)) s X(s) X(s)
Contoh: Robot Tangan Satu Sendi
Robot (lengan tunggal)
Sensor posisi (potensiometer)
Y
tact ΔΔ
=θθ&
Robot (lengan tunggal)
Aktuator (Motor DC)
θ
X
tact ΔΔ
=θθ&
&&
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+
-
Error = refθ – actθ
Amplifier s1
s1 Sendi
Robot Motor DC actθ&& actθ& actθrefθ
Sistem Robot
τIKtn
Kontrol
Sistem Kontroler
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Metoda Kontrol Klasik (P)
H(s) r Kp y +
-
e u
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eKpu ⋅=
Metoda Kontrol Klasik (I)
r Ki y
u H(s) r
sKi
y +
-
e u
⎤⎡
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KidTTetut
⎥⎦⎤
⎢⎣⎡= ∫0 )()(
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Metoda Kontrol Klasik (P-I)
Kp
H(s) r
sKi
y +
-
e u
Kp +
+
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sKiKpsG +=)(
Metoda Kontrol Klasik (D)
r y
u
H(s) r Kds ⋅
y +
-
e u
Δ
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eKdu &⋅=teKdu
ΔΔ⋅=
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Metoda Kontrol Klasik (P-I-D)
H(s) r
Kds ⋅
y +
-
e u +
+
Kp
sKi +
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Motor DC magnet permanen
R L
Va Ia
Vb
θωτ ,,
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ωbaa
a KRIdt
dILV ++= ] [)(
)(
btneffeff
tn
a
LKKfRJsRs
nKsVs
++=
θ
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Fungsi transfer open loop Motor DC magnet permanen
sθ(s) (s) Va(s)
+
- RsL +
1
effeff fsJ +1Ktn
s1
Kb
θ(s) ( )( )
)( tL nKsθ
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] [)()(
btneffeff
tn
a
LKKfRJsRs
nKsVs
++=
θ
Ia(s) 1)( −sHKtn
s1 θ(s) sθ(s) (s)
Motor DC Servo
Motor DC-MP
Kecepatan
Referensi, refθ&
Kontrol PID +
-
Kecepatan
aktual, actθ&
Motor DC Servo dengan kontrol kecepatan
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Skema ekivalen Motor DC Servo dengan kontrol kecepatan
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Control Theory Review (I)PID controller: Proportional / Integral / Derivative control
e= ψd − ψa
actual ψadesired ψd V
Motor- compute V using PID feedback
ψd − ψa
Error signal e
V = Kp • e + Ki ∫ e dt + Kd )d edt
Closed Loop Feedback Control
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actual ψa
Reference book: Modern Control Engineering, Katsuhiko Ogata, ISBN0-13-060907-2
Evaluating the response
steady-state errorovershoot steady state error
settling time
overshoot -- % of final value exceeded at first oscillation
rise time -- time to span from 10% to 90% of the final value
ss error -- difference from the system’s desired value
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How can we eliminate
the steady-state error?rise time
settling time -- time to reach within 2% of the final value
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Control Performance, P-type
Kp = 20 Kp = 50
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Control Performance, PI - type
Kp = 100
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Ki = 50 Ki = 200
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You’ve been integrated...
Kp = 100
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unstable & oscillation
Control Performance, PID-typeKp = 100 Ki = 200 Kd = 2 Kd = 5
Kd = 10 Kd = 20
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PID final control
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Motor DC Servo dengan kontrol kecepatan
Tegangan Supply DC
(misal 0÷24V)
refθ&
Rangkaian Driver
actθ&
+ -
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+ -
Vref(+) Vref(-)
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RC Servo
Arah piringan 120º s/d +120º 0º Sinyal Tegangan Input PWM piringan
Servo -120 s/d +120 0 Sinyal Tegangan Input PWM
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RC Servo
Prinsip kerja RC Servo
Teknik Pulse Width Modulation
Tegangan PWM Tegangan ekivalen linier V V
=
=
0V
Vsat
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t t
=
Prinsip kerja PWM
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Sebuah rangkaian pembangkit PWM lengkap dengan driver H-bridge untuk motor DC-MP/DC-SV
1K2
+
-+
-
74HCT245¼ LM324
¼ LM324 +12V +12V
1K2 1K2 BD643 BD643+(12÷24)V
+5V
74HCT245
Gnd Trg Dis
Vcc 20K
+ +
+
-
+
- + -
74HCT24574HCT04
¼ LM324
¼ LM324 ¼ LM324
¼ LM324
+12V
+12V +12V
1K2
1K2 1K2
2K2
2SD1314
BD643
BD643 BD643
BD643
2SD1314
2SD1314
2SD1314 2SD1314
1K2
LM555
M
1K2+12V
20K
CW/CCW
1
2
8
7
1/0
H-bridge
74HCT04
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.01
Trg Out Rst Ctl
Thr Dis 20K
.01
(0÷5)V refθ&
3
4
6
5
M
Arah (1/0)
Kecepatan (0÷5)V
Driver Motor DCBerbasis
PWM (ep)
Low-level & High Level Control
P i h Lingkungan
Low-level Control
Endra Pitowarno © 2007
Perintah Gerak Aktuator
Lingkungan Robot
Sensor Internal
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Sensor Eksternal
High-level Control
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Low-level & High Level Control
Sensor Internal:sensor posisi,
sensor kecepatan, dan sensor percepatan,
Sensor Eksternal: sensor taktil (tactile), berbasis sentuhan: misalnya limit switch pada bemper robot
f d t i (t )
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sensor force dan sensor torsi (torque sensor),sensor proksimiti,
sensor jarak (sonar, PSD, dll),sensor vision (kamera),
gyro, kompas digital, detektor api, dan sebagainya.
Low-level & High Level Control
P i h Lingkungan
Low-level Control
Perintah Gerak Aktuator
Lingkungan Robot
Sensor Internal
Kontroler
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Sensor Eksternal
High-level Control
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Low-level Control
Kontrol PosisiReferensi posisi yg selalu berubah
Posisi aktual tiap derajat aktuator
Perintah Gerak Aktuator
Lingkungan Robot
Sensor Internal
Kontroler
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Sensor Eksternal
High-level Control
Low-level Control
Kontrol PosisiReferensi posisi yg selalu berubah
Posisi aktual tiap derajat aktuator
Algoritma program (ex:
IF-THEN-ELSE)
Kontroler PID + Aktuator
Lingkungan Robot
Sensor posisi (rotary encoder)
Kontroler
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Proximity sensor (ex: line
sensor)
High-level Control
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Low-level Control
Kontrol Posisi & KecepatanReferensi posisi & kecepatan yg selalu berubah
Posisi & kecepatan aktual tiap derajat aktuator
Perintah Gerak
(posisi) & Kecepatan
Lingkungan Robot
Sensor Internal (posisi &
kecepatan)
Kontroler PID
Aktuator
Kontroler
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Sensor Eksternal
High-level Control
Penggunaan Kontrol Cerdas
Sistem r Kontroler y +
e u
Endra Pitowarno © 2007
Sistem Robot
r berbasis
AI
y +
-
e u
AI & Terminologi:orang pertama > Alan Turing (1937)
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Neural Network: Warren McCulloch (1943)Teori Fuzzy: Lukacewick (1930an)Fuzzy Sets: Lotfi Zadeh (1965)Genetic Algorithm: Teori DarwinKonsep GA dalam Evolutionary Computation (EC): Holland (1975)
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Neural Network Controluntuk Line-Tracer/Route Runner Robot
Endra Pitowarno © 2007
PB0
Jalur PUTIH di lantai GELAP
Robot Neural Network
ROUTE RUNNERPB1
PB2PB3
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Motor Kanan
Motor Kiri DAC1 DAC0
Korelasi fungsi I/O pada robot Route Runner
NoSensor (1:gelap 0:putih) Motor (0÷5)V
PB3 PB2 PB1 PB0 ML MR
Endra Pitowarno © 2007
1 0 0 0 0 1.0 1.0
2 0 0 0 1 4.5 0
3 0 0 1 0 4.5 1.2
4 0 0 1 1 4.5 2.7
5 0 1 0 0 1.2 4.5
6 0 1 0 1 1.2 4.0
7 0 1 1 0 4.6 4.6
8 0 1 1 1 4.6 4.5
9 1 0 0 0 0 4 5
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9 1 0 0 0 0 4.5
10 1 0 0 1 3.0 3.0
11 1 0 1 0 1.2 4.5
12 1 0 1 1 4.5 3.0
13 1 1 0 0 2.7 4.5
14 1 1 0 1 3.0 4.5
15 1 1 1 0 0 4.5
16 1 1 1 1 0 0
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Disain BP-NN dengan Struktur 4-5-2
Endra Pitowarno © 2007
i = 3
i = 1
i = 2
j = 1
j = 2
j = 3
k = 1
k = 2
PB1
PB3
PB2 ML
wij wjk
MR
Sensor
Motor
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Hidden layer
Output layer
Input layer
i = 4
j = 4
PB0 j = 5
Disain BP-NN dengan Struktur 4-5-2
Endra Pitowarno © 2007
⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢
⎣
⎡
=
1010101010101010110011001100110011110000111100001111111100000000
PB
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⎥⎦
⎤⎢⎣
⎡=
0.05.45.45.40.35.40.35.45.46.40.45.47.22.10.00.10.00.00.37.25.42.10.30.06.46.42.12.15.45.45.40.1
M
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Disain BP-NN dengan Struktur 4-5-2Endra Pitowarno © 2007
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Disain BP-NN dengan Struktur 4-5-2
⎥⎥⎥⎤
⎢⎢⎢⎡ −
092860183740902971950807325.063.64435.78533.830463.031589.01446.1067357.0
Endra Pitowarno © 2007
⎥⎥⎥⎥
⎦⎢⎢⎢⎢
⎣ −−−−−−−=
15491.044677.065177.012292.05697.77116.103039.163449.240928.6018374.09029.719508.0Hw
⎥⎦
⎤⎢⎣
⎡−−−−−−−
=4454.93478.1366.39181.62514.64279.1026415.25084.821555.00012.62
outw
⎤⎡
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⎥⎥⎥⎥⎥⎥
⎦
⎤
⎢⎢⎢⎢⎢⎢
⎣
⎡
−
−−
=
79925.01907.1746388.0
6095.2333687.0
Hb [ ]3654.70134.46 −−=outb
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Evaluasi fungsi I/O pada robot NN Route Runner
Sensor (1:gelap 0:putih] Motor (0÷5)V
PB3 PB2 PB1 PB0Target Output NN
ML MR ML MR
Endra Pitowarno © 2007
0 0 0 0 1.0 1.0 0.9998 0.98506
0 0 0 1 4.5 0 4.5008 0.001066
0 0 1 0 4.5 1.2 4.4994 1.2138
0 0 1 1 4.5 2.7 4.4997 2.6993
0 1 0 0 1.2 4.5 1.2072 4.3958
0 1 0 1 1.2 4.0 1.193 4.1073
0 1 1 0 4.6 4.6 4.5917 4.684
0 1 1 1 4.6 4.5 4.6104 4.3922
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1 0 0 0 0 4.5 0.0032461 4.4852
1 0 0 1 3.0 3.0 2.9982 3.0094
1 0 1 0 1.2 4.5 1.1977 4.5151
1 0 1 1 4.5 3.0 4.5014 2.9912
1 1 0 0 2.7 4.5 2.701 4.5272
1 1 0 1 3.0 4.5 2.9967 4.4935
1 1 1 0 0 4.5 1.1123e-006 4.5
1 1 1 1 0 0 1.6049e-006 9.6619e-007
Aplikasi logika fuzzy pada sistem multi-sensor-multi-aktuator
(-12)÷(+12)V(0 ÷ 5)V atau
Logika FUZZY
Sensor-1Sensor-2Sensor-3Sensor-4Sensor-5
( 12)÷(+12)V(0 / 5)V
Motor Kanan
Motor Kiri
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Sensor-6
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Dilemma: kecerdasan vs. kecepatan mesin
kece
rdas
an Algoritma program makin kompleks
Algoritma program makin sederhana/singkat
Tugino, ST MT STTNAS Yogyakarta 41kecepatan mesin
sederhana/singkat
Kasus: Line Follower
Makin tinggi kecepatan, makin mudah tergelincir (inersia membesar seiring kecepatan gerak
Endra Pitowarno © 2007
(inersia membesar seiring kecepatan gerak membesar)Pada kasus simpangan: makin laju gerak robot, makin sulit mendeteksi jalur simpang, makin sulit mengontrol efek inersiaStruktur/instalasi posisi sensor terhadap
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Struktur/instalasi posisi sensor terhadap aktuator: isu penting
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Kasus: Mata Kamera
Makin tinggi kecepatan, makin rendah kualitas citra yg ditangkap (dynamic noise) >> informasi
Endra Pitowarno © 2007
citra yg ditangkap (dynamic noise) >> informasi posisi tidak akuratDilemma: makin tinggi resolusi citra, makin lambat proses identifikasinya. Makin rendah resolusinya, makin tidak akurat hasil identifikasinya
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identifikasinya.Isu penting: high speed camera
Metode: Model-Plan-ActEndra Pitowarno © 2007
Pemodelan
Baca Sensor
Lingkungan/ Environment ( d j
Perencanaan
Model
Plan
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Action (aktuasi)
(Medan Kerja Robot)
Gerak Plan
Act
Gerak Aktuator
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Metode: Model-Plan-ActEndra Pitowarno © 2007
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GOAL
START
Metode: Model-Plan-ActEndra Pitowarno © 2007
PMID1 PC1
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GOAL
START
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Metode: Model-Plan-ActEndra Pitowarno © 2007
PC1 PMID3
PMID1 PC3
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GOAL
START PMID2
PC2
Metode: Model-Plan-ActEndra Pitowarno © 2007
PC1 PMID3
PMID1 PC3
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GOAL
START PMID2
PC2
PMID4 PC4
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Metode: Model-Plan-ActEndra Pitowarno © 2007
PC1 PMID3
PMID1 PC3
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START PMID2
PC2
GOAL
PC4 PMID4
PC5
Metode: Model-Plan-ActEndra Pitowarno © 2007
PC1 PMID3
PMID1 PC3
PMID4
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GOAL
START PMID2
PC2 PC3
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Metode: Model-Plan-ActEndra Pitowarno © 2007
PC1 PMID3
PMID1 PC3
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START PMID2
PC2
GOAL
PC4A PMID4A PC5
PMID4B
Metode: Model-Plan-ActEndra Pitowarno © 2007
PC1 PMID3
PMID1 PC3
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START PMID2
PC2
GOAL
PC4A PMID4A PC5
PMID4B
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Pengendalian Berbasis Komputer
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Komputer Sebagai Pengendali
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Pengendali Berbasis Prosesor Mikro
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Pengendali Berbasis Prosesor Mikro
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Bentuk Robot Industri tipe REVOLUTE
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Sistem Kendali Robot Industri
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