control_system
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control_system [2023/05/11 16:52] – [Controller] ursgraf | control_system [2023/05/11 17:13] (current) – [Motor Model] ursgraf | ||
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==== Controller ==== | ==== Controller ==== | ||
- | The position of the TCP is controlled by taking in the setpoint . | + | The position of the TCP is controlled by taking in the setpoint |
==== Motor Model==== | ==== Motor Model==== | ||
- | + | As our board cannot only control voltages fed to each motor, we must use a motor model to calculate these voltages. | |
- | The "Motor Model" | + | < |
- | The " | + | U = kM * w + I * RA + dI/dt * L |
+ | </ | ||
+ | with I = M / kM and dI/dt * L beeing very small with our motors and accounting for the gear i we get | ||
+ | < | ||
+ | U = kM * w * i + M * RA / (kM * i) | ||
+ | </ | ||
==== Outputs ==== | ==== Outputs ==== | ||
The drive signals to the motor are of type '' | The drive signals to the motor are of type '' | ||
Line 48: | Line 53: | ||
eeros:: | eeros:: | ||
</ | </ | ||
+ | |||
+ | The block ' |
control_system.1683816756.txt.gz · Last modified: 2023/05/11 16:52 by ursgraf