From 9f02ddf34983376cd1898803cf36db79a870e2c5 Mon Sep 17 00:00:00 2001 From: EmaMaker Date: Fri, 5 Jan 2024 15:58:03 +0100 Subject: [PATCH] update README.md --- README.md | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index def5dc2..981b927 100644 --- a/README.md +++ b/README.md @@ -4,15 +4,17 @@ My attempt at building a two-wheeled self-balancing robot. The project started a later evolved as a University project. I'll upload the university report to this repo as soon as it is complete. This repo will also be supported by a blog post on [emamaker.com](https://emamaker.com) -The physical model of the robot has been derived by calculatin the Lagrangian function. This model -is heavily non-linear and has been linearized around the 0° point (equilibrium). +The physical model of the robot has been derived by calculating the Lagrangian function. This model +is heavily non-linear and has been linearized around the 0° point of equilibrium. The linearized model has been reconstructed in MatLab Simulink and a discrete-time PID controller -has been calculated by trial and error. +has been calculated by trial and error. This PID Controller was used to dimension the motors (max. torque + in particular) and was later refined with the Ziegler-Nichols method. The robot has later been built using a Raspberry Pi Pico microcontroller paired with a MPU6050 6-axis IMU, from which the pitch angle is derived with the use of a [Madgwick](https://ahrs.readthedocs.io/en/latest/filters/madgwick.html) filter. -(Initially this was a simple complementary filter, but it was way to noise, check the blog post). +(Initially this was a simple complementary filter, but it was way too subject to noise from the + accelerometer, check the blog post). The two motors (Hitec HS-322HD servomotors, check blog post for the choice of motors) are driven by a L298N motor driver. Everything is powered by a 2S 7.4V LiPo battery.