Balancing robot Kalman IMU propeller, first attempt

LabbHasse Har implementerat ett KALMAN filter på accelerometer och gyro för att skapa en snabb och noggrann vinkelsensor, IMU. KALMAN filter och PWM styrning körs i en propeller processor. Motorstyrning från kontrollerkort ursprungligen utvecklat för vår robot gräsklippare, RoboCut.

Första tester, PID-regulator. Systemet känsligt för störningar, dessutom är roboten utifrån sin konstruktion svårbalanserad med låg tyngdpunkt och låg höjd. Detta avsiktligt för att kunna applicera koden på andra robotar senare, eventuellt hembyggd 'SegWay'. Rullstolsmotorer köpes!

Category:

Science & Technology

Tags:

• balancing
• robot
• kalman
• filter
• IMU
• accelerometer
• gyro
• segway
• DIY
• labbhasse
• robocut
• robotshop

[avogaster]

It sounds like a harley davidson

[PeppiPepp]

Nice work ;)

[alquiora]

It's a mini segway

[oqla2000]

the L298n h-bridge works fine with this robot and they are available here in sweden

[sixstringmania]

are you using relays?Maybe thats the problem , the relays are very slow

[chorlion40]

the real problem is that you have it calibrated so that it is trying to balance itself at the wrong angle, it is unbalanced in a aresting state there fore it is having to constantly work to stay at an upright angle

[austincm18]

way too much slack. use a belt or different type of gearing to tighten it up imho

[MrMcPimpsauce]

Or you can just dim down the resolution on whatever VAR you are using that justifies the angle, (if you don't need to use a WORD then use something smaller). It will cause the robot to be unable to sense those very small tilts, which is cause the robot to move back and forth so quickly. Instead, it will adjust its angle only at larger tilts. Therefor it wont be so jerky.

[tenshivan]

maybe the gears have too much of a gap between each other

or maybe use PP Gears, used in RC's.

[wel97459]

you need to use a h-bridge diver to control the motors better the relay have a lot of delay it look like

[half4team]

Do you have a project page? I want to make one myself and need some info on the hardware.

[viaduke]

agree..the gear backlash caused the jitterness