Subject:
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speed control help
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Newsgroups:
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lugnet.robotics.handyboard
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Date:
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Wed, 23 Jun 1999 04:08:58 GMT
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Original-From:
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lroska <LROSKA@HOME.COMnomorespam>
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Viewed:
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805 times
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I have a problem that involves speed control.
My robot is curently configured for differential steering and have
shaft encoders installed on each one for feedback.
the shaft encoders generate 64 pulses /rev
The motors are PWM using the rug warrior setup.
The problem is that the motors are non linear in respect to the power
applied to them.
At full power (100%) the shaft encoders return 64 pulses/s
at 75% they return 62 pulses/s, at 50% power they return 60 pulses/s
and at 25% they return 50 pulses/s
the speed control software i'm using is assuming that the response is
linear so for 50% power it expects to see 32 pulses/s but in fact it is
receiving 50 pulses/s therefore it slows down the motor to a crawl.
Is there a formula that I can use to solve for the expected pulses/s for
a given power input?
Any help is appreciated!
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Message has 2 Replies:
 | | Re: speed control help
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| lroska wrote: <snip> (...) <snip> (...) <snip> (...) <snip> The easy solution is to avoid using a formula that assumes anything about the motor speed curve (except of course that reducing the motor value reduces the speed). Try using a feedback (...) (25 years ago, 23-Jun-99, to lugnet.robotics.handyboard)
| | | Re: speed control help
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| It sounds like you are running open loop. If you use the wheel encoders as feedback devices to close the loop, then you can use the motor control function in your program as a variable to adjust motor control current via PWM to match the command (...) (25 years ago, 23-Jun-99, to lugnet.robotics.handyboard)
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