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bot gets unstable and blows away after some time
Posted: Thu Apr 23, 2020 2:54 am
by tayalmanan
Hi everyone,
While I was trying simulating self balancing bot using PD control but it blows away after some time I spent a good amount of time figuring out what's the issue but I couldn't figure it out.
The video can be seen here :
https://youtu.be/du6j9wXRQxY
- 1D motion.txt
- The code of the above self balancing bot. Please help me if you are able to figure it out thanks
- (1.78 KiB) Downloaded 1201 times
Re: bot gets unstable and blows away after some time
Posted: Sat Apr 25, 2020 3:55 am
by tayalmanan
If my question is unclear let me explain this again:
The 2 wheeled bot gets unstable after some time and then it flies away. What does this mean, is my model stable or not? because it is working well in the starting but afterwards it flies off.
Is this problem faced by anyone else as well? or is it just happening in this case only?
Thanks in Advance
Re: bot gets unstable and blows away after some time
Posted: Sat Apr 25, 2020 2:27 pm
by Erwin Coumans
The urdf file is missing, so we cannot reproduce it.
Re: bot gets unstable and flies away after some time
Posted: Mon Apr 27, 2020 2:20 am
by tayalmanan
Please have a look at the file attached for reference
- balance.txt
- This is not a urdf file as I was not able to attach one. But the code is present in this txt file
- (2.49 KiB) Downloaded 1187 times
Thanks in Advance
Re: bot gets unstable and blows away after some time
Posted: Thu Apr 30, 2020 3:36 am
by steven
i find the velocity will oscillate and the amplitude will get bigger and bigger. i think it should be the issue of the PD parameters.
adding a velocity boundary of [-10,10] can fix this. just for your reference.