control_system
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control_system [2019/12/01 07:47] – [Inputs] graf | control_system [2021/05/18 14:28] – ursgraf | ||
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====== Control System ====== | ====== Control System ====== | ||
+ | |||
+ | The coordinate system is as follows | ||
+ | {{: | ||
+ | |||
The figure below shows the complete control system for our delta roboter. | The figure below shows the complete control system for our delta roboter. | ||
{{: | {{: | ||
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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 '' | ||
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* 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.\\ | ||
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==== 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