The tracking is impressive! But I am even more impressed with the speed and responsiveness of the remote-controlled robot. Can you explain more about how the balancing works? Do you still use the same the PID-cascade you wrote about on your blog in 2013? What kind of filter do you use for gyro/accel sensor fusion, and how fast do you run the main balancing-loop?
@74Samy
6 жыл бұрын
Hello Axbri. Yes, the balance is the same PID-cascade that I've used in my previous robot, it is running at 100 Hz. At the moment I'm using complementary filter to fuse the sensors.
@AxelsDIY
6 жыл бұрын
Thanks for the info. Your robot is very well tuned. I have used the same system on my robots but they are not as stable and responsive as yours. I have also tried much faster loop speed, it helps slightly with stability. I think I just need to tune my PIDs and filter better...
@74Samy
6 жыл бұрын
My setup is really similar to yours, same MPU, stepper motors, same PID system. Your robot looks satble to me, you don't run it in high speed in you video. I didn't find any real advantage in a higher frequency loop, I've tried it and returned to the 100 HZ. In fact it can run faster than this but the motors can't handle the needed quick response and the robot falls easily. For higher speed it would need more torque, changing the tuning could help to achieve higher speeds but it is not my priority for this robot.
@jsbarretto
6 жыл бұрын
Out of interest, how difficult are they to knock over?
@74Samy
6 жыл бұрын
Hi Joshua, It is easy to make them fall. This steppers don't have much torque.
@mikkan39
5 жыл бұрын
Those look great! I'd actually love to print one, is it possible to have CAD, sketchup or STL files? Thank's :)
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