i dont get it, does it use integral control with the estimator? and could i ask how does the systems behaves without including the motor in the model...
For motor there is liner(almost) relation between input (current) and output (torque) so we can easily get the gain to go from current command to torque output and bypass the motor dynamics. To get the that gain I did system identification: measures current required for known amount of torque get bunch measurements and find the gain to convert from current to torque, unit for that gain would be Nm/Amp. I hope this answers your question.
One of them act as encoder slave which reads encoder pulses and send CAN command of pendulum's relative position. 2nd is main controler which takes in pendulum and motor position, calculates and sends required motor comand. And 3rd Arduino is just to listen to the can bus and display that data on Simulink.(visualization purpose)
The confidence doing this right next to all the electronics
Now you just need a start up script where the controller flicks the pendulum upright by itself
I had planned that too but never got around to do that.
"But can your new robot BRING ME A CUP OF WATER??"
... yes. If you stand right there
That water cup giving me anxiety
Superb
Super!
AMAZING!!! :-)
Very good; from Spain.
Good shit sir!
Nice Job!
computers are just nuts
How does the motor move? Is it riding on a rack ? Or are there belts that I could not see?
There is a timing belt connected to the cart and the motor is driving that belt.
For that linear guide track what did you use...I want to build the same....can you plz tell me where did you get that linear guide
Amazon or eBay, you will find plenty of options.
Looks like 80/20 aluminum extrusion
i dont get it, does it use integral control with the estimator? and could i ask how does the systems behaves without including the motor in the model...
For motor there is liner(almost) relation between input (current) and output (torque) so we can easily get the gain to go from current command to torque output and bypass the motor dynamics.
To get the that gain I did system identification: measures current required for known amount of torque get bunch measurements and find the gain to convert from current to torque, unit for that gain would be Nm/Amp. I hope this answers your question.
@@KISHANPATEL96 Ty dude you're amazing!
Why exactly did you use 3 separate Arduinos?
One of them act as encoder slave which reads encoder pulses and send CAN command of pendulum's relative position.
2nd is main controler which takes in pendulum and motor position, calculates and sends required motor comand. And 3rd Arduino is just to listen to the can bus and display that data on Simulink.(visualization purpose)
@@KISHANPATEL96 excellent work
Can u pass the 3D files of the pendulum?