Difference between revisions of "Controllers"
Jump to navigation
Jump to search
| Line 9: | Line 9: | ||
===Balance Controller=== | ===Balance Controller=== | ||
===Euler Integrator=== | ===Euler Integrator=== | ||
| − | |||
| − | |||
Revision as of 23:37, 27 March 2019
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.
