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PID-Controlled Balancing Robot (v1.2)

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screenshot of the scene

Author: bhott13

Group: Default

Filesize: 10.46 kB

Date added: 2016-10-27

Rating: 5

Downloads: 608

Views: 285

Comments: 1

Ratings: 1

Times favored: 0

Made with: Algodoo v2.1.0

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A basic PID controlled robot that dynamically changes the motor RPM to compensate for angle offset.

Experiment with different masses, heights, wheel diameter and motor torque. Also try using drag tool and ramps to test its balance.

Default PID values: (located at scene.my.)
kp = 2.0
ki = 0.1
kd = 1.0
rpmMultiplier = 20.0
rpmMax = 200.0

------------------------
v1.2: Made values more realistic (Much heavier, higher friction wheels, motor torque decreased)
------------------------

I plan on adding driving functionality as well; this was just a way to test out the robot I plan on building.
Last edited at 2016/10/27 05:47:48 by bhott13
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Xray
2016/10/27 07:48:13
Wow! It's so nice to see an occasional technical scene on Algobox! And from a person who knows what PID control is! Where have you been all these years? :*)

There are only a handful of us "techies" left here since Algobox has been overrun with children making very simple "stickman" scenes over the past few years. I hope you will hang around and post more awesome technical scenes. Click on my user name and you will see all of the scenes that I have made!

By the way, I am also one of the Algodoo Admins. So, if you have a problem or question about Algodoo or about Algobox (this website) just let me know, and if I don't know the answer, then I'll find someone who does!

Welcome!
Last edited at 2016/10/27 07:49:44 by Xray