Using closed loop speed mode in Roboteq controller

5 years 1 month ago - 5 years 1 month ago #29531108 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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5 years 1 month ago #29531110 by TechSupport
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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5 years 1 month ago #29531115 by Naman91
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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5 years 1 month ago #29531116 by TechSupport
No. PID tuning is trial and error.

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4 years 6 months ago #29531828 by issahmd
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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