Yes. If the radio stick is in the neutral position it just tries to keep balance with average speed=0. If it is moved forward or backward it keeps the balance with certain forward or backward target speed. Stick left-right controls speed diference between the two wheels. Someday I want to make a faster one with brushless motors.
Yes. If the radio stick is in the neutral position it just tries to keep balance with average speed=0. If it is moved forward or backward it keeps the balance with certain forward or backward target speed. Stick left-right controls speed diference between the two wheels. Someday I want to make a faster one with brushless motors.
Thanks a lot for your comment. Control loop basically consists of two nested PI loops: inner PI loop: Torque=k1x(alpha-ref)+k2x w outer PI loop: ref=ref+k3x (v-refv)+k4x s where alpha= current angle from accelerometer and gyro (comp. filter) ref= vertical reference w= gyro rate v= wheel speed refv= reference wheel speed s= integral of error (v-refv)
Yes. If the radio stick is in the neutral position it just tries to keep balance with average speed=0. If it is moved forward or backward it keeps the balance with certain forward or backward target speed. Stick left-right controls speed diference between the two wheels. Someday I want to make a faster one with brushless motors.
DANVELVILL 4 months ago
is this remote controlled, AND auto balancing?
Robots4Sale 4 months ago
Yes. If the radio stick is in the neutral position it just tries to keep balance with average speed=0. If it is moved forward or backward it keeps the balance with certain forward or backward target speed. Stick left-right controls speed diference between the two wheels. Someday I want to make a faster one with brushless motors.
DANVELVILL 4 months ago
as a designer, profecional or not you should document things everything
zacker2000 10 months ago
do you have the source code for this? im working on something similar
pbspecops 10 months ago
It would be SO cool to make one in bigger size and make a Segway. It may be cheaper and more mod-able :D
jodex96 2 years ago
Does it have a gyroscop built it ?
barbuceanu2005 2 years ago
would you consider selling me one? or possibly giving me a schematic?
budsiskos 2 years ago
I'm sorry; my robots are not for sale and the design is not well documented.
DANVELVILL 2 years ago
@DANVELVILL Could you at least tell me what materials and parts you used? Did you use an arduino?
chickenpoper 4 months ago
cooool!! that looks like a robotic SegWay
yakky44 3 years ago
Great job! This is the most impressive one I have seen. Could you detail what the PID equation you used looks like? And 2 encoders are used, right?
wanghar 3 years ago
DANVELVILL 3 years ago
Comment removed
wanghar 3 years ago
This has been flagged as spam show
Thanks, three questions with your equation:-
1. what does 'reference wheel speed
' stands for?
2. In accordance with the outer PI loop, the vertical reference (ref) is not a const, right?
3. how is it implemented( change any variable in above equation?) to remotely control the robot going forward and backward.
wanghar 3 years ago
Wow you are pretty good!!!
VagPap92 3 years ago
Thanks. It took a while to fine-tune the nested PID loops and the angle measurement complementary filters.
DANVELVILL 3 years ago
Wow that's really impressive, looks smooth and responsive.
Gl3ny 3 years ago