5 ms·
As a former MechE, those parts look like it cost a pretty penny but damn, the results are worth it. Naively, you should be able to plug figure 21 into simulink
by syntaxing 3y ago
As a former MechE, those parts look like it cost a pretty penny but damn, the results are worth it. Naively, you should be able to plug figure 21 into simulink to get the tuned constants. Though to be honest, getting the system constants will probably take just as much time and for a one off piece that’s for fun, hand tuning is more than fine.
- dutchkiwifruit 3y agoFusion 360 calculates things like moments of inertia and weight, and this was very helpful since the controller requires these parameters to convert control inputs to torques, for example. I still had to tune the controller gains, of course. (Which I did by hand.)
- syntaxing 3y agoIs there anyway to tune the controller gains beforehand? Also if you don’t mind me asking, how much did everything cost you? This looks super fun and I’m debating to build one.
- FabHK 3y agoThe article lists a BOM of EUR 2500.
- dutchkiwifruit 3y agoBobrow’s research mentions a set of equations that can be used to derive the controller gains based on a set of dynamics-related parameters of the cube (like inertia, mass), but the results were unsatisfactory, so I tuned the gains by hand. But in theory, yes.