- Tue Feb 11, 2014 9:33 pm
#168368
Hi guys, new member Cyberdiver here,
I am building a robot which balances on a sphere using Arduino Duemilanove and sparkfun razor-6DOF IMU (along with 2 speed controllers and 4 motors).
I am adopting the code written by automatik (http://voidbot.net/razor-6dof.html --> the link does not work anymore
) and I am trying to figuer out the P, I, and D constants which work with my project.
I did a little search online and found that I can emperically determine the the constant using the Ziegler–Nichols method (anyone familar with it?
, which requires me to first find the 'ultimate gain' and the associated oscillation period.
(Reference: http://en.wikipedia.org/wiki/Ziegler%E2 ... ols_method)
Can you guys suggest me a way (or a program) to figure out the 'ultimate gain' and 'oscillation period'?
(Where is automatik's website now? It seem to be broken D:)
PS: I apologize if I posted on the wrong section of the forum.
C.
I am building a robot which balances on a sphere using Arduino Duemilanove and sparkfun razor-6DOF IMU (along with 2 speed controllers and 4 motors).
I am adopting the code written by automatik (http://voidbot.net/razor-6dof.html --> the link does not work anymore
) and I am trying to figuer out the P, I, and D constants which work with my project. I did a little search online and found that I can emperically determine the the constant using the Ziegler–Nichols method (anyone familar with it?
, which requires me to first find the 'ultimate gain' and the associated oscillation period. (Reference: http://en.wikipedia.org/wiki/Ziegler%E2 ... ols_method)
Can you guys suggest me a way (or a program) to figure out the 'ultimate gain' and 'oscillation period'?
(Where is automatik's website now? It seem to be broken D:)
PS: I apologize if I posted on the wrong section of the forum.
C.