A half hour meeting with my supervisor Ben Hicks lead to several ideas worth noting.
First of all the creation of this blog as an easy method of documenting my progress and design decisions during the build phase.
Secondly was the idea of some sort of test rig to prove that the control system works with out the need for a brave volunteer to stand on board!
It was invisaged this would be in two parts, a desk mounted RP'd 'joy stick' with the MPU mounted to simulate the input into the system. A rig to hold the motors and wheels would then also be built. As the motors are operating in locked antiphase it seems logical that accurate control should be acheivable with no load. However it might also be sensible to add a resitive load to simulate motion via a belt or chain drive. The angular velocity of the motors could be measured by means a of a simple encoder making use of the spokes of the wheels (ir led and receiver, interfaced via arduino).
This could all be put back through the numerical model of the device to check the stability before practical testing comences.
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