8.11.2. Actuator Tuning

Try these first

1. 1.

   What does PID stand for in actuatory control?

   Hint

   Think of the terms used in control algorithms.

2. 2.

   Why is torque matching important?

   Hint

   Consider what happens if the actuator is overloaded.

3. 3.

   What does PID stand for?

   • Proportional
   • Integral
   • Derivative
   • Precision
   • Intensity
   • Direction
   • Performance
   • Integration
   • Duty

   Hint

   Each letter represents a specific control aspect.

4. 4.

   True or False: Feedforward control is a reactive method of control.

   • True
   • False

   Hint

   Consider the difference between anticipating and reacting.

5. 5.

   Given a robotic arm with known torque requirements, propose a method to calculate the appropriate motor specifications needed, considering factors like load and duty cycle.

   Hint

   Remember to include additional safety factors, especially when dealing with dynamic loads.

6. 6.

   Analyze a scenario where a PID controller is too responsive, resulting in oscillation. Describe how you would adjust the parameters to rectify this.

   Hint

   Consider why stability is fundamental in control systems.