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 [DPRG] two wheel balance Message index sorted by: [ date ] [ thread ] [ subject ] [ author ] Previous message: [DPRG] two wheel balance Next message: [DPRG] two wheel balance Subject: [DPRG] two wheel balance From: Kipton Moravec kip at kdream.com Date: Fri Feb 22 23:12:51 CST 2002 ```I know enough about Kalman Filters to be dangerous. When it comes to Kalman Filters I am not a master, I am more of a grasshopper. It is computationally intensive, and I don't think we can manage with fixed point math. And I don't know if we can do it with the slow HC11. This is a better roll for your 32-bit processor. The first step in doing a Kalman is to model mathematically what we are doing. We need to model all the forces. We need the equations for the torques of the system, and try to figure out the PWM versus torque relationship, for the voltage you are using. We have to take into account the inertia, the rotational velocity, the rotational acceleration, friction, everything. What we are trying to do is model the system. Then depending on what we want it to do, we have state vectors that describe the individual variables >from the equations. The values of the vectors can be measured, or derived >from other measurements. For example, you can measure position directly if you have GPS, or you can measure position indirectly based on encoder ticks. So the first step is write down the equations. Kip ----- Original Message ----- >From: "David P. Anderson" To: Sent: Friday, February 22, 2002 2:54 PM Subject: [DPRG] two wheel balance > Now on to the inertial gravity reference tilt sensor. Anybody know > anything about Kalman filters? :>) > > regards, > dpa > ``` Previous message: [DPRG] two wheel balance Next message: [DPRG] two wheel balance Message index sorted by: [ date ] [ thread ] [ subject ] [ author ] More information about the DPRG mailing list