[SP] Sysid/Speed control of rear wheel motors
alezana opened this issue · comments
Until mid-April 2018, the speed of the gokart was controlled by a PI-controller. That controller proved unreliable to make the gokart reach zero velocity, i.e. come to a halt. Instead, the vehicle would drive reverse. Since then, we downgraded to a P-controller.
We have conducted experiments that input synthetic signals of various amplitudes to the motors: PRBS, Chirp, etc. During the experiments, a safety driver was seated inside the gokart and the steering was straight.
The task is to develop a fast and robust speed controller for the gokart that outperforms the current P-controller.
Related document: 20180617_rimo_response.pdf