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Using closed loop speed mode in Roboteq controller

8 years 1 month ago - 8 years 1 month ago #29531108 by Naman91
Using closed loop speed mode in Roboteq controller was created by Naman91
Hi,

I have a simple mobile robot with 2 motors and I am using this Roboteq Controller . And I want to use the closed loop speed mode with it. I have the linear velocity(v) and the angular velocity(w) of the robot and using it I can generate individual velocities for each motor and then send the PWM values to the Roboteq controller. I want to know what kind of control loop does this mode use, is it like a PID Controller? If yes, do I have to specify the PID parameters and tune it or is it taken care of? Also, How can I connect my rotary encoder's output from both the motors to the Roboteq controller for the feedback control?

Thanks in advance.
Naman

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8 years 1 month ago #29531110 by TechSupport
Replied by TechSupport on topic Using closed loop speed mode in Roboteq controller
If it is speed, then closed loop speed mode is to be used. If it is a a position control, then closed loop speed position might work better. In that mode, the PID will be tuned like a position based PID control(P gain and small amounts of I gain).

You connect the encoders to the Dsub connector, and disable the pulse inputs they are on and set up as feedback with the correct PPR in the settings.

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8 years 1 month ago #29531115 by Naman91
Replied by Naman91 on topic Using closed loop speed mode in Roboteq controller
Thanks for the reply! I was able to make the connections. Is there a tutorial or something which I can use to tune the PID values for the motors using the Roborun API?

Thanks!

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8 years 1 month ago #29531116 by TechSupport
Replied by TechSupport on topic Using closed loop speed mode in Roboteq controller
No. PID tuning is trial and error.

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7 years 6 months ago #29531828 by issahmd
Replied by issahmd on topic Using closed loop speed mode in Roboteq controller
Hello Naman91 ,

It been about 7 mounth since you posted the problem . Did you get any luck.If yes , please help !!!

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