Quote:
Originally Posted by cajsc
I'm a mentor of a rookie team and everything is going well by now.
But we're trying to use a PID to self-balance the robot in the ramp using a Gyro to do so with no luck.
Can somebody give me an advise for it??
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We are going to try this but have not gotten around to it yet. Is the gyro working by itself? Note that it needs to be mounted vertically (in the X-Z plane) to accomplish your task. Are you using LabView or C++ or Java?
The basic approach is to use the gyro as the feedback (with the level setting as the setpoint) and your wheels as the actuator. Set the proportional gain very low - make sure the robot is moving in the correct direction. Then slowly raise the gain till you get a good rate of closure on the setpoint. Use the D gain for dampening any oscillation you get around the setpoint and the I gain for fine tuning the final position (where the servo settles). I suspect you might need no D gain since weight of the robot itself dampens the servo.
HTH