1. Based on whether there is feedback, control can be divided into: open-loop control and closed-loop control.
The conditions for open-loop precise control are: the model of the controlled object is known precisely, and this model remains unchanged during the control process.
① Open-loop control refers to a system control method without feedback information. When the operator starts the system and puts it into operation, the system...
The system sends the operator's instructions to the controlled object all at once.
②Closed-loop control is a fundamental concept in cybernetics. It refers to the process where the output, as the controlled entity, is returned to the input, as the controller, in a specific manner.
A control relationship that involves the input terminal and exerts control influence on the input terminal.
③ The difference between open-loop and closed-loop control: whether there is feedback; whether it affects the current control. Open-loop control is generally instantaneous.
For a completed control activity, closed-loop control will definitely last for a certain period of time, which can be used to make a judgment.
2. According to the desired control quantity, it is divided into three types: force control, position control, and hybrid control.
Position control is about positioning, and its main control input method is pulse. Force control is about controlling the torque of the motor, determining the torque. Force control and force/position hybrid control are generally more complex, being a combination of the former two.
Position control is divided into: single-joint position control (position feedback, position-velocity feedback, position-velocity-acceleration feedback) and multi-joint position control; multi-joint position control is further divided into decomposed motion control and centralized control. Force control is divided into: direct force control, impedance control, and force-position hybrid control.
3. Intelligent control method
The main types include: fuzzy control, adaptive control, optimal control, neural network control, fuzzy neural network control, and expert control.
