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Unread 06-05-2005, 11:47
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Alan Anderson Alan Anderson is offline
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Re: Self-Balancing 2 Wheeled Robot

Quote:
Originally Posted by MikeWasHere05
There's also a problem with the pendulum idea. If I am making constant adjustments to control the angle, then the pendulum will start swinging...
If you mount the pendulum to hang from the point of rotation of the platform (i.e. the axle), you'll have a lot less to worry about. You can account for the approximately known linear acceleration and compute something very close to the actual tilt. Modeling the dynamics of the pendulum might still be necessary, but you won't have to deal with the chaotic "double pendulum" system that would arise if the pivot point were somewhere above the axle.