tag:blogger.com,1999:blog-910685024071367839.post2509460181054312997..comments2024-03-22T05:52:25.544-04:00Comments on BuildIts in Progress: Motor Control Progress: Working Hardware, and a Field Oriented Control ImplementationBen Katzhttp://www.blogger.com/profile/15816221191617788028noreply@blogger.comBlogger3125tag:blogger.com,1999:blog-910685024071367839.post-87245680933749787192016-02-29T01:03:17.547-05:002016-02-29T01:03:17.547-05:00Thanks! It's a really bare-bones implementati...Thanks! It's a really bare-bones implementation right now - independent d/q axis controllers, no feedforward decoupling yet. I'm a little hesitant to add in decoupling just yet - for both decoupling and impedance control of the motors (for robot leg control), I need to sit down and think harder about getting clean velocity estimates out of my position sensors (achievable joint damping depends on how clean your velocity measurement is). Ben Katzhttps://www.blogger.com/profile/15816221191617788028noreply@blogger.comtag:blogger.com,1999:blog-910685024071367839.post-68237186938572548632016-02-28T20:12:50.380-05:002016-02-28T20:12:50.380-05:00Nice work! It's fun to see a controller math a...Nice work! It's fun to see a controller math actually work in real life. Are you using independent D/Q-axis controllers with decoupling paths?Shane Coltonhttps://www.blogger.com/profile/10603406287033587039noreply@blogger.comtag:blogger.com,1999:blog-910685024071367839.post-197446900239934502016-02-18T08:01:08.155-05:002016-02-18T08:01:08.155-05:00Hi Lad, Love the blog! The cheapest and easiest wa...Hi Lad, Love the blog! The cheapest and easiest way to do the planetary gear box is to sticking with the RC field. Inside the Diff box of RC monster trucks are four smaller gears that you can use to make a planetary gear box<br />http://www.hobbyking.com/hobbyking/store/__37702__Central_Diff_Box_Assembly_Nitro_Circus_Basher_1_8_Scale_Monster_Truck_SaberTooth_Truggy.html <br />http://www.hobbyking.com/hobbyking/store/__14162__Diff_Pinion_Gear_S_3Pcs_Bag_110BS_A2003T_A2010_A2027_A2028_A2029_A2035_A3011_and_A3007.htmlAnonymoushttps://www.blogger.com/profile/06643195422669914216noreply@blogger.com