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
bot gets unstable and blows away after some time
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- Location: Surat, India
bot gets unstable and blows away after some time
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- Posts: 4
- Joined: Thu Apr 23, 2020 2:36 am
- Location: Surat, India
Re: bot gets unstable and blows away after some time
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
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
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Re: bot gets unstable and blows away after some time
The urdf file is missing, so we cannot reproduce it.
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- Posts: 4
- Joined: Thu Apr 23, 2020 2:36 am
- Location: Surat, India
Re: bot gets unstable and flies away after some time
Please have a look at the file attached for reference
Thanks in AdvanceYou do not have the required permissions to view the files attached to this post.
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Re: bot gets unstable and blows away after some time
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.
adding a velocity boundary of [-10,10] can fix this. just for your reference.