The unicycle
The integrated test is done before sensor fusion, with accelerometer data only, as a way to check controllers. Next, fuse the accelerometer data with gyroscope data for making the measurements robust to high frequency vibrations due to motion. Sensor fusion increases the time constant of the control system, but gives better results in the real environment. In this video, the controller is a linear 2-input/2-output that takes orientation angles in degrees and computes motor speeds and directions in volts for both the main wheel and the reaction wheel. This test verifies the hardware of the controller.
Verifying the center of mass before programming. The center of mass must be at the center of the chassis, above the center of the main wheel. Also, testing the driver inputs before programming. The source code is different from the previous prototype, because of the migration from an 8-bit architecture to a 32-bit architecture. Got rid of most of the bulge wire with the four prototyping boards mounted on the chassis.
Негізгі бет A Proportional Controller with Inertial Feedback
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