LPCXpresso IDE中的主题 Re: LPC1343 + Baseboard = Balancing Bot

LPC1343 + Baseboard = Balancing Bot

lpcware — Thu, 16 Jun 2016 00:11:03 GMT

Content originally posted in LPCWare by ub3r on Thu Jan 12 09:09:44 MST 2012
Finally got my robot to balance. :D :D
http://www.youtube.com/watch?v=RiJimgBmyL8

Re: LPC1343 + Baseboard = Balancing Bot

lpcware — Thu, 16 Jun 2016 00:11:04 GMT

Content originally posted in LPCWare by LPCVictoria on Thu Jan 12 19:29:03 MST 2012
Some cool! Put a wee weight on one side to make it go forward!

David

Re: LPC1343 + Baseboard = Balancing Bot

lpcware — Thu, 16 Jun 2016 00:11:05 GMT

Content originally posted in LPCWare by Rob65 on Fri Jan 13 13:24:11 MST 2012
Cool,

I wish I had something like this :D

The next thing to do is to let it lean forward and then start moving forward (just fast enough to keep it from falling down). The faster you want it to go, the more it needs to lean forward.

I think that would be a nice thing to do :D

Rob

Re: LPC1343 + Baseboard = Balancing Bot

lpcware — Thu, 16 Jun 2016 00:11:05 GMT

Content originally posted in LPCWare by NXP_USA on Fri Jan 13 17:31:27 MST 2012

Quote: LPCVictoria
Some cool! Put a wee weight on one side to make it go forward!

David

Nah it would probably just tilt and stand back up :-)

Re: LPC1343 + Baseboard = Balancing Bot

lpcware — Thu, 16 Jun 2016 00:11:06 GMT

Content originally posted in LPCWare by Rob65 on Sat Jan 14 00:29:59 MST 2012

Quote: NXP_USA

Quote: LPCVictoria

Some cool! Put a wee weight on one side to make it go forward!

David

Nah it would probably just tilt and stand back up :-)

Indeed.
The control loop likely wants to keep the board (and sensor) horizontal, moving just a little bit forward and then balance it again.

Moving forward is more like controlled falling. Think of holding a stick in your hand (pointing up). As soon as it starts falling you move a bit to keep it from falling. When you want to move forward (with some speed) you let the stick fall until it leans into the direction you want to move far enough and then start moving, keeping the stick at a certain angle for a certain speed.

To get the bot to move I think you need just a second control loop that converts the wanted speed in an angle the platform should be at.
The difficult thing is that as soon as it starts moving the acceleration sensor not only reports the angle of the board; it's being compensated by the forward motion.

Regards,[INDENT]Rob
[/INDENT]