https://github.com/nakkaya/control-toolbox
https://github.com/nakkaya/control-toolbox
Last synced: 3 months ago
JSON representation
- Host: GitHub
- URL: https://github.com/nakkaya/control-toolbox
- Owner: nakkaya
- License: epl-1.0
- Created: 2018-06-29T09:54:06.000Z (almost 7 years ago)
- Default Branch: master
- Last Pushed: 2019-03-25T14:25:33.000Z (about 6 years ago)
- Last Synced: 2025-01-23T09:42:50.697Z (5 months ago)
- Language: Clojure
- Size: 36.1 KB
- Stars: 1
- Watchers: 2
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# control-toolbox
Robotics Toolbox
## Usage
### Motion
#### Holomonic Motion
Initialize the model,
```
(def motion (holomonic-motion-init {:diameter 0.057
:angles [60 135 225 300]}))
```
Get motor speeds to direction,
```
(holomonic-motion-speeds motion (vector-2d 10 10) 0)
```
### Control
#### PID
From Wikipedia,
> A PID controller calculates an 'error' value as the difference between
> a measured [Input] and a desired setpoint. The controller attempts
> to minimize the error by adjusting [an Output].
We tell the PID controller what to measure (input) Where we want
that measurement to be (setpoint) and the variable to adjust
that will make that happen (output). Contoller then adjusts the
output trying to make the input equal the setpoint.
For reference, in a car, the Input, Setpoint, and Output would be the
speed, desired speed, and gas pedal angle respectively.
Some notes on tuning PID controllers,
- Use KP to decrease the rise time.
- Use KD to reduce the overshoot and settling time.
- Use KI to eliminate the steady-state error.
The effects of increasing each of the controller parameters KP , KI
and KD can be summarized as,
```
|----------+-----------+-----------+---------------+-----------|
| Response | Rise Time | Overshoot | Settling Time | S-S Error |
|----------+-----------+-----------+---------------+-----------|
| Kp | Decrease | Increase | | Decrease |
|----------+-----------+-----------+---------------+-----------|
| Ki | Decrease | Increase | Increase | Eliminate |
|----------+-----------+-----------+---------------+-----------|
| Kd | | Decrease | Decrease | |
|----------+-----------+-----------+---------------+-----------|
```
## License
Copyright © 2015 FIXME
Distributed under the Eclipse Public License either version 1.0 or (at
your option) any later version.