Quote:
Originally Posted by Mike Betts
Tom,
The FIR filter should work just as well when changing directions. Indeed, you want to back off the throttle from the one direction before increasing in the other direction. Of course, you may want to try using the new Jaguars for this. Also, something other than constant coefficients for the FIR would be interesting...
JMHO.
Mike
|
It would be interesting to see an analysis on real output speed vs allowed acceleration on the rover wheel/CIM setup. Physics says max acceleration should always be the same, but I tend to remember CIMs being kind of sloshy in their top end. This may break a linear filtering system and limit your max acceleration.
This is all based on the non linearity of PWM duty cycle to torque in the CIM. Anyone with knowledge on this, care to share?
On a side note: I rather like the "Middle Income" situtation Paul suggested. I just don't think input filtering is enough to be super useful.