Robotic Car, Closed Loop Control Example
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- čas přidán 25. 07. 2024
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I demonstrate the value of closed loop control in an uncertain environment using my Zumo Robot car. If you're interested in building one yourself and trying this out I think I've given you enough information to go and write your own simple code. These types of platforms are great for learning since it's so easy to tweak the code and test it out. This is the first video of a series where I'll explain my process for designing a control system.
Errata:
Don't forget to subscribe! I'm on Twitter @BrianBDouglas!
If you have any questions on it leave them in the comment section below or on Twitter and I'll try my best to answer them.
I will be loading a new video each week and welcome suggestions for new topics. Please leave a comment or question below and I will do my best to address it. Thanks for watching!
My full-time job is designing control systems for satellites and aircraft. I've had some pretty fantastic mentors over the years who have helped me realize the value of what I learned in school. These lessons are what I'm trying to pass on to others so hopefully more people will get interested and excited about engineering systems. My recommendation to you would be to read/watch tons of different explanations of the same topic and choose what works for you ... that and practice!
Thank you, Brian. Love from India
I have a engineering degree working for sustainable energy but in structure and mechanical. Where can I get started to make control system for a robot car?
Thanks a lot
感谢Brian！让我重燃对控制系统的激情！
@@BoZhaoengineering Hello Bo!, I'm a biomedial Eng Undergrad so i might not know as much as you, but you can start by learning to program microcontrollers(preferably arduino) and learning step by step about various different motor drivers and such.. there are lot of good tutorials on the internet, then you can design a control system with the inputs that you plan to implement (it,ultrasound) and output as the pwm for motor driver and switching direction
Thanks! It went unstable at the end because I had increased the gain higher than 1/35. If you noticed the car never actually went back to the flag and so by increasing the gain I reduced that final error. But if you increase it too much the car goes unstable. However, the real root of the problem is that a proportional controller isn't the correct choice for this case. I couldn't increase the gain high enough to have zero error while still staying stable. I'll explain in a future video.
Everyone in controls needs to watch this video. It does a wonderful job of making sense of the maths, graphs, poles, and codes.
Well, after one semester of studying control theory I finally got it thanks to this video. I missed connection between algebraic representation and reality. Thank you.
You just did! Thanks for watching and please share with your friends so that I can grow the channel and eventually make this a one-stop resource for controls related tutorials.
Best Video ive ever seen for control theory
Brian, THANKS A LOT for this fantastic small project. I have finished the control theory course for years and it is your way of teaching that really attracts me. I highly appreciated your videos and I believe many more people will benefit from your enlightening guidance. Hope you get more videos in the future^^
Very nice video!! I've started studying closed loop control and this video has got me excited to keep studying hard! Thank you, Brian, for the good job with your channel!
i love all your videos on control system....it makes me realize how its work in real life..Thanks a lot.
Wow, you were able to cover(at least get through) all that in such a limited time. Mind blowing ! You are a great tutor B.douglas.
If you publish a book i will get one for sure no matter how much
Again, incredible work! Your explanations make concepts I had written off as too difficult for me years ago so much more accessible. I plan on using your videos both at work and in my volunteer work with our local school and STEM programs. Please, keep it up and thank you.
This is by far the best channel on control engg.
Good question. I could have used a compass (or even the compass and gyro as a pair). I chose a gyro only because I wanted to talk about the gyro sensor in the next few videos. The control law attempts to minimize vehicle rotation, if I had used the compass the control law would have tried to maintain a specific heading. If I had a specific goal for the car (other than to show a closed loop controller) I probably would've picked a different sensor.
Recently bought an Arduino robot kit and one of the motors has greater output than the other one. This video will definitely helps me! Thank you!
You're always full of energy. Thanks Brian
I'am in my final year of electronic engineering in Ireland, in exams I could do all the control mathematics with great grades but had not the faintest idea what I was doing until now! WOW! Great video.
Congratulations on the great work. I'm sure a lot of people would appreciate more videos! :D
I have never commented on anyone's video in my life but your videos have helped me understand a lot of things and i would like to thank you for that. I hope to see more control system videos !!!!
Thank you so much for this video, I am currently an undergraduate student focusing on monitoring and advanced control, I love both math and electronics and when I read your comment about your full time job, you answered me the question, I want to be a control design engineer!!
really loved!!!
explained everything very simply , god bless u man!!!!
Awesome project!!
GREAT GREAT GREAT intro to control systems. This puts everything in perspective.
+sub :D
Sir you are awsome!! Im doing masters in System and Control and it is sometimes really boring but watching this remembers me how cool it can be.
I'm going to watch a lot of your video's.Thankyou for putting effort into making these great videos. Seriously, they are great and helping a lot! I am going to combine it with two books and then try something myself.
awesome demo
love the block diagrams
Great video. Simple explanations.
Man you rock !!!!!!!! This is control systems ! Now I get it ! Now I even love this subject man ! You did it ! Hats offf !
Love your work !
Nice! Waiting for the next video
I like your videos very much. You are an extraordinary teacher with very good knowledge of control theory.
Brian, good job as allways.
Great, insightful video!
BTW: Nice backyard!
thank you very much. your video gave me sufficient information for my academic project.
I'm an Electrical Engineering Student, I'm glad I subbed, keep up the great work.
Excellent video. Good job, sir!
Very good and enjoyable example of a control system :D
Excellent Video, you really helped me understand control systems a lot more thank you very much sir
I love your videos!
Congratulations for your videos Brian, I'm sure it helps lots of people, I am one of them. I'm trying to make a car go towards to one direction, in my case the disturb is caused by little difference between wheels speed. I thought I could do that using a acelerometer, but someone told me I should use a gyro.
My goal at this moment is to get that.
Great job
Awesome!
great video sir
awesome. great work.
Nice T-shirt "Спутник" !
Tq ,it enhances my practical skill ,lucky to see this video
Good ideas Brian..
great video man just keep it up
Hi Brian ...I like your videos because these are very interesting...I hope more videos from you.
Amazing channel !
You are brilliant Thank you for videos
its great that you are doing all this! one problem i have seen with control system courses in school is that its taught as just a math course without enough explanations into the applications of what we are learning. students need to look into other resources such as your videos to better understand the applications
Thanks this is really good for me.
thanks for the videos!!
I like how you demonstrated the implementation of control systems using electronics and embedded systems though most control engineers usually don't need to do the implementation.
You are a legend!
Great Video!! Thank you :-)
Hi Cruz, you are correct that the EMI caused by the motors would be picked up by the compass. I haven't tried it on my latest project but on a past project I wrapped the motors with a high magnetic permeability metal to shield the other components from the motors. Another thought is depending on the speed of the motors and the expected turning rate of the car you might be able to filter the magnetic component from the motors out of the compass reading. Interested to see if it would work!
Freaking awesome!
Great intro!
Pretty interesting. I am starting working on my quadrotor. This just gave me some idea.
Nice Video!!!
Brian you are better than my lecture, give us more videos!!
Very interesting controlmate
Prof Brian Douglas is da bom.
Super Video thanks a lot
just amazing
Hey that was awesome,,, keep going
This is what our Indian education system lacks, we know the theory but not the applications and as a results the subject sucks.Even if we look for the same topic the educator also lacks the practical knowledge.
Your video makes a difference Sir.
thank you, this is great :)
hey.. Great video!!
is there part 2 video with explains the PID controller ?
hope you can help with a PID code for this kind of car
You're the man
NICE, I just wanted to know why do you need to build a 5 frames average filter in this ("primitive, simple") example and from where do you get the gain 1/35 of your closed loop?
thank you so much:-)
Hi Dipendra, I have to admit that I'm not a programming expert but here is my recommendation. First off, understanding "how" to program is more important than learning a specific language (i.e. the logic and flow of a program). At my job I use Matlab more than anything and you can write some pretty sophisticated scripts with Matlab. I can read through C and can tweak code but haven't really had to write large programs from scratch in C. I guess it depends on what you're using it for.
Shame that you didnt really continue this series except for the "Robotic Car - A Simple Way to Build a Model" video... Any plans on continuing with this series after these few years?
Thanks for this easy-to-follow instructions!
Delightful arduino+science playground.
How about publish a book?
Thanks
amazing! the last 10s were more fun though! ha
Hey Brian can you make a separate and detailed video illustrating the method of designing a control system and then implementing it on hardware.
Thanks
you should do one of those inverted pendulum robots, just like the segway alike, very much common in arduino projects. That would be nice, the system identification and also the real life LQR application.
Awesome ... while you are at it ... can you demonstrate the use of pd or pid for cruise control found in cars?
Hi James, I just made a video about building a really simple plant for the Zumo bot. It's two videos ago if you go to my channel. I'm planning on making a more in depth one in a few weeks. Do you have a Zumo? Have you done any modeling of it?
Far out. I think the educational opportunities here are great!
Adjust those gains and give it a sense of direction /w the magnetometer! Might wanna get the MPU-9150 also. Oh and while i'm at it you're gonna need to find out what has an electromagnetic field [like the motors ;)] and keep the magnetometer away.
hello, excellent video; In my university they want to do this tests with a table that turns 5 times faster than the nominal with the use of Psoc. I hope you can help me thanks.
Hey Brian, I love you videos man keep em coming. Is it possible for you to make a few videos about implementing an MPC system on an Arduino for a 6-DOF craft? I somewhat understand the theory but implementing matrix computations on Arduino and also the details needed to correctly implement the system is not easy to do. Any help in this field would be greatly appreciated.
I love these videos! But why was a gyro used instead of something more finite like a compass?
13:17 I'M DONE, DAMMIT! GAHHHHHH!
the feed back circuit is everytime a sensor in other applications or can it just be other thing?
Клевая майка. I mean, cool shirt :) And awesome channel too.
Brian, Great Videos... However, Kalman Filter and MIMO systems using Matlab plus are my lackings. Any chance on videos and examples on these topics. I have problems with more than one input like pressure and temperature. Trying to optimize and perform system ID is more second-order or more systems. After building math models and trying to tune cascade models. hardware in the loop is different at this level. Does not tune very well. Any ideas?
is g/35 the conversion for angular velocity measurement to linear speed?
Can i perform the same on ARM microcontroller.
Buddy...can u suggest some university to do masters in control system
What encoder for your motor do you use?
The compass will have noise introduced by the magnetic fields that the motors create.
Since the rotation is not centered at origin of the car's reference frame, I think the car will try to preserve a trajectory parallel to the original black line.
@Brian Douglas Where did you learn all of this? I have a couple of Control Systems books but they aren't that great that I can do this kind of stuff (and I'm not talking about the Arduino). Maybe you have a better book you can recommend? Thanx for the video's !
Which software and hardware used
Hey Brian,
love your videos man. I am currently doing my masters in electrical, want control to be my focus. As an electrical engineer, we weren't required to take any other programming classes than C (which I didn't understand very well) during undergraduate at our university. I was hoping you could advise me on what programming courses would help me to become a good control engineer? Would greatly appreciate your help.
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