(last updated 4/20/2007)
The chart below shows the conceptual layout of Leanerd's control laws. The control laws consist of inner feedback loops to control the wheel speeds, an outer loop to balance, and another outer loop to control the forward speed of the robot. Additionally, there will be a control loop to control the lean angle as Leanerd makes sharp turns and travels over uneven terrain.
I am still working on some analysis and testing to determine the various PID gains to provide good performance. I've written the software for the wheel speed control loops and I've implemented a control loop to hold the mast at a 90 degree angle with respect to the chassis while I evaluate and test the wheel speed control laws and the balancing control laws.
Leanerd's control laws.
To be determined...
Please email comments to troy@troys-toys.net (please use this link or type Leanerd Comments in the comment section of your email).
