jdh_1984
Member level 2
Hi
I am planning to build a two wheeled balancing robot, and have some questions about the design of the robots controller.
To obtain the mathematical modeling of the system, I used the following thesis.
(rose.arnaud.me/_media/2003-balance-ooi.pdf)
The mathematical model, a pole placement controller and step reference is implemented in Simulink/Matlab (the gain is calculated with place command). A simulation with a step is done, in the simulation it is only the position which is following the reference, the angular position is staying at zero(see attachment yellow = position, purple = angular position, and blue is reference).
Why is this happening, the model is containing four state variables, but only the position state variable is following the reference. Could the reason for angular position is following zero be the linearization about the horizontal axis?
I am planning to build a two wheeled balancing robot, and have some questions about the design of the robots controller.
To obtain the mathematical modeling of the system, I used the following thesis.
(rose.arnaud.me/_media/2003-balance-ooi.pdf)
The mathematical model, a pole placement controller and step reference is implemented in Simulink/Matlab (the gain is calculated with place command). A simulation with a step is done, in the simulation it is only the position which is following the reference, the angular position is staying at zero(see attachment yellow = position, purple = angular position, and blue is reference).
Why is this happening, the model is containing four state variables, but only the position state variable is following the reference. Could the reason for angular position is following zero be the linearization about the horizontal axis?
