Control Simulation Self-Balancing --> for expert

[micman2]

Hi,

I see this example : \examples\Control Design\Case StudiesCDCartpoleControllerDesignAndSimulation.llb

I wold modify for self-balancing type "HOT-V".

Message Edited by micman2 on 04-23-2008 11:47 AM

[micman2]

I would modify with space state model :

pag . 32

http://robotics.ee.uwa.edu.au/theses/2003-Balance-Ooi.pdf

[micman2]

I try modify CDCartpoleControllerDesignAndSimulation.llb  with new space state model and the result is this:

[micman2]

Now In teory I have the control LQR for balancing robot but for verify this I must modify the simulator of self balancing with the space state model :

The problem is How to create a simulator for salf balancing where I have

Input :

  -Force to apply at the motor

Output:

 - Degree

 - Rate/Degree

 - Meters (wheel)

 - Meters/Sec (wheel)

[Hudson]

Hi micman2

Unfortunately we don't have any specific example for your application. Feel free to post here if you have any question on specific LV PID functions.

I really hope someone else who just worked on your topic can help you.

Thanks for posting here.

Hudson | AE NIIT

[micman2]

Hi Hudson ,

Thanks you for your answer!

My goal is to study HOT-V :

http://zone.ni.com/devzone/cda/tut/p/id/4386

Now, since it is impossible to see the source code of hot-v (I have contacted by email authors but I had no answer)

and given that I recently purchased a daq , I'm trying to build/replicate hot-v.

I have the model (see attached pdf above) but I can not implement it labview.

How to control I use LQR (linear quadratic regulator)

Finally, the problem is how can implement the model of self-balancing robot described PDF in labview.

Thanks

Michele

[micman2]

wowww 

My first step for control and simulation balancing robot in LABVIEW (I love Labview)!!!! 

http://www.youtube.com/watch?v=9nfo_e9TXKI

[Aroc]

Hi

My name is Andres I´m a student and I´m trying to understand how the Balancing works to make one.

Can you send me your code please?

Thank you

[altenbach]

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Aroc wrote:

My name is Andres I´m a student and I´m trying to understand how the Balancing works to make one.

Can you send me your code please?

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