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Dec 14, 2017, 05:59 PM
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Discussion & more steering

Started putting projects on This is not to be confused with The hackaday domanes are a confusing mess of illegible grey on black text, but the few readers might find it more useful. It feels like rcgroups has lost attention to the hackaday, eevblog, properties as the RC world has expanded from toys to industrial robots which control cameras, clean floors, deliver food, drive taxis, & train athletes. An RC vehicle is just as often found delivering food now as it was doing flat spins, 10 years ago.

Steering the lunchbox continues to be a brutal occupation. The stiction algorithm as implemented did nothing. It started becoming obvious that control feedback behaves like an equation. No matter how convoluted the feedback algorithm is, the result converges on the same answer in the long term, like an equation which always outputs a sine wave despite having 1 added & subtracted to it many times. This is why control theorists write their feedback algorithms in equation form. It makes it easier to see what changes reduce to 0.

The stiction problem is specifically caused by the servo saver absorbing much of the motion & less because of the linkages. The servo saver absorbs much motion in left turns but virtually no motion in right turns. Maybe the integral has to be kicked based on swings in the PWM output instead of the heading error.
Last edited by Jack Crossfire; Dec 14, 2017 at 06:06 PM.
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