Hi all, I am attempting to use two VESCs and two hoverboard motors (the standard 6.5in 30 pole ones) to make a segway type robot similar to the telepresence robot by Double Robotics. Specifically I am using one HW4.12 ESC and one Flipsky 75100, paired with AMT102-V encoders on each wheel. I originally tried to just use the built in hall sensors, but couldn't get low enough speeds no matter what method I tried to use, encoders allow me to get down to around 200ERPM with +/-10ERPM after PID tuning. I am aiming for 100ERPM or ~33RPM for adequate balancing, but this is just an estimation. Has anyone seen a similar project? I have seen acouple custom Onewheels and some hoverboard motor/encoder setups, but nothing quite like what I am doing.
My main question right now (mostly a controls question) is I am able to tune a PID for hitting a consistent speed with no load, but when I apply an external load like grabbing the wheel, the PID sucks. How can I tune the PID to both hit the right speed consistently AND correct to it when an external force is applied?
Sorry if this is a basic controls question, I feel like it still pertains I am tuning through the VESC tool and using VESC based ESCs.
Thanks,
Clayton
Have a look here:
https://www.youtube.com/watch?v=ao6QpQC9RlY&t=1s
This is all without any motor sensors. Basically sensorless position tracking... The self balance script can be found in the Beta VESC-Tool.
Since you use a HW4.12 ESC with 2 low side shunts and a flipsky 75100 without phase filters, the sensor-less position tracking is not possible in the same way. Not sure what is achievable with this third party hardware. You will probably want to use encoders in that case. AS5047P magnetic encoders would work. Keep the cable short ( 15cm max) and shielded. Run the AS5047P on 3.3V since this creates less noise.
https://trampaboards.com/resources/manuals/207.pdf