Difference between revisions of "Controllers"
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(Created page with "=== Intro === *The control algorithms on our bicycle are separated into three cascaded controllers. The output of one controller is input to another controller.") |
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=== Intro === | === Intro === | ||
*The control algorithms on our bicycle are separated into three cascaded controllers. The output of one controller is input to another controller. | *The control algorithms on our bicycle are separated into three cascaded controllers. The output of one controller is input to another controller. | ||
| + | *In order from high level to low level: | ||
| + | # Navigation controller, which tries to follow a desired path | ||
| + | # Balance controller, which tries to achieve a desired lean angle (φd) and desired steer angle (δd). For straight line balance (no navigation), this controller attempts to achieve φd = 0 and δd = 0. In this position, the bicycle is balanced (upright and steered straight ahead). | ||
| + | # Front motor controller, which controls front wheel angle (δ). | ||
| + | *Using cascaded controllers allows us to develop each controller semi-independently. | ||
| + | ===Front Motor Controller=== | ||
| + | ===Balance Controller=== | ||
| + | ===Euler Integrator=== | ||
| + | ===Navigation Algorithm=== | ||
| + | ===Steady-State Lean Angle Calculation=== | ||
Revision as of 23:36, 27 March 2019
Contents
Intro
- The control algorithms on our bicycle are separated into three cascaded controllers. The output of one controller is input to another controller.
- In order from high level to low level:
- Navigation controller, which tries to follow a desired path
- Balance controller, which tries to achieve a desired lean angle (φd) and desired steer angle (δd). For straight line balance (no navigation), this controller attempts to achieve φd = 0 and δd = 0. In this position, the bicycle is balanced (upright and steered straight ahead).
- Front motor controller, which controls front wheel angle (δ).
- Using cascaded controllers allows us to develop each controller semi-independently.
