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RKD Unit 6

The document outlines control considerations for hardware systems, emphasizing accuracy, reliability, scalability, energy efficiency, response time, environmental factors, and safety. It describes hardware architecture types—centralized, distributed, and hybrid—and key components such as processing units, sensors, actuators, communication interfaces, power supply, and human-machine interfaces. Additionally, it discusses joint controllers, computational speeds, and factors affecting system performance, highlighting the importance of real-time response and efficient algorithms.

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10 views4 pages

RKD Unit 6

The document outlines control considerations for hardware systems, emphasizing accuracy, reliability, scalability, energy efficiency, response time, environmental factors, and safety. It describes hardware architecture types—centralized, distributed, and hybrid—and key components such as processing units, sensors, actuators, communication interfaces, power supply, and human-machine interfaces. Additionally, it discusses joint controllers, computational speeds, and factors affecting system performance, highlighting the importance of real-time response and efficient algorithms.

Uploaded by

anseltemp
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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Unit 6: Control Hardware

Q. Control Considerations
Control considerations involve the planning and design factors that influence how a control
system is implemented. These include:
 Accuracy: Ensuring the system performs tasks with minimal error.
 Reliability: The system should consistently function without failure under specified
conditions.
 Scalability: Ability to accommodate additional hardware or expand functionality.
 Energy Efficiency: Reducing power consumption while maintaining performance.
 Response Time: Ensuring timely execution of control actions to meet system
requirements.
 Environmental Factors: Accounting for conditions like temperature, humidity, and
interference.
 Safety: Implementing safeguards to prevent damage or accidents in case of failure.

Q. Hardware Architecture/What are the hardware for joint controllers


explain with block diagram
Hardware architecture refers to the physical and logical organization of the control system's
hardware. It includes:
 Centralized Architecture: A single controller manages all components. Suitable for
small-scale systems.
 Distributed Architecture: Multiple controllers, each managing specific components,
communicate with each other. Common in large systems for modularity and fault
tolerance.
 Hybrid Architecture: Combines centralized and distributed approaches for balance
between simplicity and scalability.

Key Components in Hardware Architecture

1. Processing Units
o Microcontrollers: All-in-one chips with processing, memory, and I/O
capabilities.
o DSPs (Digital Signal Processors): For real-time, high-speed numerical tasks.
o FPGAs: Provide flexibility for custom hardware designs and parallel
processing.
2. Sensors
o Collect data from the environment or system (e.g., temperature, pressure,
motion).
o Examples: Thermocouples, accelerometers, gyroscopes.
3. Actuators
o Convert control signals into physical actions (e.g., motors, valves, LEDs).
4. Communication Interfaces
o Facilitate data exchange between components.
o Examples:
 Wired: I2C, SPI, UART, CAN, Ethernet.
 Wireless: Wi-Fi, Bluetooth, Zigbee.
5. Power Supply
o Provides the required electrical power to the system.
6. Human-Machine Interface (HMI)/Operator Interface
o Allows users to interact with the system.
o Examples: Touchscreens, keypads, and displays.
7. Network Interface:
o Facilitates communication between the main control system and individual
process controllers.
o Allows remote monitoring and management via network cables.
Q. Hardware for Joint Controllers
Joint controllers manage the movements of joints in robotic systems or other mechanical
assemblies. Key aspects include:
 Motors:
o DC Motors: Simple control, suitable for precise speed and position
adjustments.
o Stepper Motors: Provide discrete steps for high precision.
o Servo Motors: Combine feedback for position and speed control.
 Feedback Systems:
o Encoders: Measure rotational position or speed.
o Potentiometers: Detect angular position.
o Force/Torque Sensors: Measure forces acting on the joint.
 Control Strategies:
o PID Controllers: Common for smooth and accurate control.
o Adaptive Control: Adjust parameters in real-time for varying conditions.
 Power Amplifiers: Drive motors with the required voltage and current.

Q. Computational Speeds
Computational speed refers to how quickly a control system processes information and
executes commands.
 Factors Affecting Speed:
o Processor Clock Speed: Higher speeds enable faster calculations.
o Parallel Processing: Using multi-core processors for simultaneous
computations.
o Algorithm Efficiency: Simplifying control algorithms reduces computational
load.
o Communication Latency: Minimizing delays in data transfer between
components.
 Importance:
o Ensures real-time response for dynamic systems (e.g., robotics, automotive
controls).
o Reduces lag in executing control actions.
o Handles complex computations like multi-axis motion control effectively.
 Hardware Examples:
o DSPs (Digital Signal Processors) for high-speed mathematical computations.
o FPGAs (Field-Programmable Gate Arrays) for parallel processing.
o GPUs for handling large datasets or advanced simulations.

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