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The automata of the nineteenth century had complicated control systems. Inside of their mechanisms were intricate gears and metal drums covered with studs. These then bumped feelers, turned cams, and plucked levers as they turned. These preprogrammed motions were translated into dancing, writing, or music, depending on the mechanism. Similarly, the punched cards that encoded weaving patterns for looms were read and operated on by complicated control systems.
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Fig. 6-2.
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All of these actions and results occurred in a void, like the sound of a tree falling in the forest even though there is no one to hear it. The commands from the cams or the cards are sent out into the mechanism, never to be heard from again. Did they succeed Is the machine still working, or did something break It doesn t matter, because in the next tick of the gears another command will be sent. This type of control system is called open-loop control. Information goes in a straight line, out from the control system and into the machine. There is no information coming back, the loop is not closed. To close this loop, we need feedback.
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The examples in the Passive Control section actually illustrate the concept of feedback. Many systems can have complex behavior without feedback. Many of the intricate automata from the nineteenth century performed complex and intricate actions based entirely on commands from their programs, the notched wheels or studded drums that revolved in their bowels. Many robots interact without obvious feedback, going through actions based on a prerecorded sequence the animatronics at Disneyland and the welding robot of the factories, for example. Internally there may be hidden feedback loops that keep the mechanism on track. There are two kinds of feedback. Positive feedback was illustrated by the pencil in Fig. 6-1. A small disturbance (the pencil tipping) is ampli ed into a larger disturbance (the pencil tipping more), continuing until the system reaches its limit (the pencil hits the table). A familiar and uncomfortable form of positive feedback is the squeal of sound you get when a microphone is too close to its speaker. Negative feedback was illustrated by the device in Fig. 6-2. A small disturbance (tipping) creates an automatic force in the other direction, resisting the tipping. The system will oscillate, or wobble, back and forth until the energy put into the system is lost as heat. Feedback or, more speci cally, negative feedback, is important for many if not most automatic systems. In the eighteenth century steam engines were becoming popular, turning heat into work. These devices powered the industrial revolution and helped propel the world forward to the technological prowess we enjoy today.
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In a steam engine, heat is applied to a tank of water. The water heats up and expands as steam, which creates pressure in the tank. This pressure then pushes pistons, which perform work. The question is, how do you control the steam ow to the piston to keep the machine moving at a steady speed
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CENTRIFUGAL FEEDBACK
Try This: James Watt is credited with perfecting, or at least popularizing, the centrifugal, or y-ball, governor. An example of this mechanism is shown in Fig. 6-3. The block at the bottom is a standard motor from the Mindstorms kit. When you turn it on, the shaft spins and the wheel weights try to y out away from the shaft. This, in turn, causes the lift arms to, well, lift. These are linked to a sliding link on the shaft. This sliding link can
Fig. 6-3.
Centrifugal governor.
CHAPTER 6 Control
Fig. 6-4.
Building the arm.
then be used to trigger or adjust the system that makes the shaft spin. The steps for building this centrifugal governor model are given in Figs. 6-4 and 6-5. A control system that receives a feedback signal from the mechanism under control is called a closed-loop control. The controller sends a command to the machine and then a sensor or mechanism in the machine sends information back to the controller. The circle of communication is complete, the loop is closed. If you build a robot car with bumpers, so that the car backs up and turns when it hits a wall, you are using feedback. Your body is constantly using feedback as it operates, to keep itself warm or cool, fed or watered. Where else do you use feedback
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