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macrobomastercontrolteam / Task_Board

Board of all tasks for control team
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Closed-loop speed control of chassis #44

Open GJSK-Novice opened 4 weeks ago

GJSK-Novice commented 4 weeks ago

Why: Currently, chassis speed control is open loop. We used only M3508 motor speed as the only form of feedback for chassis speed. It does not consider the drifting effect of the wheel. For better control, close the loop. ToDo:

  1. A possible approach: integrate data of accelerometer on controller board on gimbal as vx and vy feedback to dynamically adjust drive motor speed. Be careful that controller board is mounted on gimbal and accel value must be transformed to chassis.
  2. Estimate robot mass possibly using F/a = m and dynamically adjust PID parameters. Alternatively, use fuzzy PID.