Hi everyone,
I want to build a 2 wheel balancing robot like this, the motor I'll use are these ones, but I need help to find the ESCs to control them. The motor (not the output shaft) will run around 5000RPM and may go slow for fine adjustment. Any advice on the ESCs caracteritics I need to look at ?
Have a nice day
Speed control requires feedback from the motor or output shaft. Read the speed pulses of the encoder and feed it into your software regulator (PID?) to obtain the duty cycle of the PWM signal to a motor driver board. The driver board should handle the voltage and current required for your motor.
You don’t need and ESC to drive that motor you need a H bridge controller . The motor speed you set with a pwm output from your Arduino - whether it’s fast enough I’ve no idea
The video is using stepper motors , not the same as those you are considering , which appear to be a dc motor with a shaft encoder
(?)
You probably don’t need to use the encoder as the balancing feedback signal comes from some other sensor and motor position is not important .
Hello hammy
Hope you're doing well
I asked about ESCs because I've already tried with l298n board and the motor would only start at around 10% duty cycle.
But since they're geared DC motors with high reduction ratio 10% might be good enough for achieving slow wheel speed.
For the encoder you are right, I won't use them only the IMU, they were just included in the kit
Thanks for your answer
Have a nice day
Hello DrDiettrich
Thanks for your answer
I planned on only using the IMU to get the pitch and then feed it into the PID do you think it could work with this sensor only? (The encoders were part of the wheel kit and I did not intend to use them)
Have a nice day
The IMU provides a rotational speed. Conversion into an angle by integration is subject to offset and noise. An integrated offset can make the angle run away.
Oh sorry, I wanted to say MPU, so the draft is not that bad. I've run a few tests with the MPU 6050 and the oscillations are around 0.1° which I think are small enough for this application.
IMUs provide orientation in 3D space, without runaway. The combination of gyro and accelerometer assures that. Only in the yaw axis is rotation drift an issue (if no compass is used). The yaw axis is not used for balancing.
This topic was automatically closed 180 days after the last reply. New replies are no longer allowed.