control_system
Differences
This shows you the differences between two versions of the page.
Both sides previous revisionPrevious revisionNext revision | Previous revisionNext revisionBoth sides next revision | ||
control_system [2019/12/01 07:47] – [Inputs] graf | control_system [2019/12/01 07:49] – [Headline] graf | ||
---|---|---|---|
Line 8: | Line 8: | ||
Lets start with the blue box at the bottom center of the diagram. This box represent the motors including the gears and the encoders. The encoders are defined as '' | Lets start with the blue box at the bottom center of the diagram. This box represent the motors including the gears and the encoders. The encoders are defined as '' | ||
<code c> | <code c> | ||
- | eeros:: | + | eeros:: |
</ | </ | ||
If the HAL is configured correctly, we get the current position in radian of each encoder. Next, the '' | If the HAL is configured correctly, we get the current position in radian of each encoder. Next, the '' | ||
Line 26: | Line 26: | ||
* The '' | * The '' | ||
- | ==== Headline | + | ==== Controller |
The "Motor Model" gets the actual speed and the calculated torque as input, and outputs the desired voltage for each motor.\\ | The "Motor Model" gets the actual speed and the calculated torque as input, and outputs the desired voltage for each motor.\\ | ||
Line 32: | Line 32: | ||
==== Outputs ==== | ==== Outputs ==== | ||
The drive signals to the motor are of type '' | The drive signals to the motor are of type '' | ||
+ | <code c> | ||
+ | eeros:: | ||
+ | </ |
control_system.txt · Last modified: 2023/05/11 17:13 by ursgraf