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RVSagar / uw-auto-rc-car

Autonomous RC car project for a future University of Waterloo Mechatronics course.
MIT License
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Fix car dynamic parameters #14

Open RVSagar opened 3 years ago

RVSagar commented 3 years ago

@Wesley-Fisher After working on the car for the controls course, I realized that the inertial parameters could be better. I did some hacks to get it working decently for the course but now I'll take a more methodical approach. The current car has quite large intertias for its size (see video below). My aim is to fix this and retune the PID controllers so that car behaves more closely to real life.

https://user-images.githubusercontent.com/6260220/118900593-56e50700-b8df-11eb-9407-7a553c78c07e.mp4

Wesley-Fisher commented 3 years ago

Looks like a good area to tune things up. I forget if they were originally chosen with some method, or just (probably) random values.

RVSagar commented 3 years ago

Yeah, I noticed that some of the sensors (camera etc.) had very large inertias, scaling those to the correct sizes should also help, will report my findings back here.

A start (updated parameters and tuning controllers currently):

rc_car_coms rc_car_inertia