simplefoc / Arduino-FOC-reaction-wheel-inverted-pendulum

Reaction wheel inverted pendulum project based on the Arduino Simple FOC library and SimpleFOC shied.
MIT License
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How to tune the LQR parameters precisely? #5

Open weiminshen99 opened 1 year ago

weiminshen99 commented 1 year ago

Dear Antun,

Thank you so much for this amazing project and it is very inspiring !!

I made a similar system that is almost working (please see https://youtube.com/shorts/L6I1zPEigmI?feature=share), but I don't know to tune the LQR parameters precisely so to make it completely stabilize. Could you please give me some advice? Thanks!

-- Wingman

askuric commented 1 year ago

Hey @weiminshen99 ,

here is a community post from some time ago that might be helpful: https://community.simplefoc.com/t/self-balancing-robot/343/24?u=antun_skuric

Basically, if you have such state space control algorithm:

Voltage = k1*angle +k2*angular_velocity +k3*motor_velocity;

tuning procedure

Good luck!

weiminshen99 commented 1 year ago

Hi, Antun,

Thank you so much for your reply and advices! I will try them out and let you know the results.

By the way, the "Self-Balancing Robot" applications are very cool.