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improve the controller #3

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Veix123 opened this issue Nov 26, 2020 · 1 comment
Open

improve the controller #3

Veix123 opened this issue Nov 26, 2020 · 1 comment

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@Veix123
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Veix123 commented Nov 26, 2020

The Robotont's wheels are currently controlled by 3 PID controllers that are INDEPENDENT! This is problematic, when the speed setpoints for the controllers are not symmetrical (e.g. when moving sidewise) or when disturbances occur on one of the wheels.
We need a single controller that is aware of all encoder values and controls all wheels simultaneously. As a result, blocking the motion of one wheel should proportionally slow down the other two.

@KingBoomie
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Usually this problem is solved by having separate PID controllers for motor effort and x y control. Eg, like this schematic from the ros_control overview.
image

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