Download RiSE State-Based Voltage Control

RiSE State-Based
Voltage Control
Salomon Trujillo, July 13, 2007
Video
Joint Speed Comparison
Measured Voltage Comparison
DC Motor Model
τ
Stall
Torque
 Vmotor
V = Kττ + Kωω
I = KIτ
High current draw
Constant slope
No current draw
Area = Power
ω
No-Load
Speed
 Vmotor
PD & Force Control Diagrams

u
ω
-
kp
+
uω
-
f
kd
Kf
+
ω
Kω
V
f
Voltage Control of Motors
Crank Voltage
Wing Voltage
Gait State Machine
Wing Voltage
Pull Down
Front Flight
Front Strike
Back Release
Crank Voltage
Front Release
Back Flight
Back Strike
Pull Down
Front Legs
Back Legs
Yaw Bang-Bang Control
u
Yaw detected
using IMU

Flight-Brake Control
v
Constant velocity approach
Target State
x
Pitch Correction
Normal Attachment
Pitch Correction Attachment
Pitch detected
using IMU and
wing angles
Future Work
• Produce a hybrid control that combines
trajectory and state-based controllers.
• Build a framework that uses robot dynamics
to calculate desired voltages.
• Experiment with voltage commands at
transitions (input shaping?)
• Work on release and strike states to provide
smoother attachment & detachment and
prevent non-gravity deceleration.