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cubhe

这是我做的cubhe看到苏黎世联邦理工学院的cubli所以也想自己做一个。 分为两个部分吧 一个是机电一体化设计 一个是控制算法

机电一体化设计

目前准备先做单边平衡：

  • 框架：6mm亚克力板
  • 电机：maxon EC-45-flat
  • IMU uint：jy901
  • 主控：arduino mega2560（以后可能会换成32）
  • 电源：220(AC)-24(DC)电源

控制算法

  • 目前用的pid
  • 下一步会用LQR看看效果

（持续更新中....）

2020/8/11

cubli已经做好了，实现了单点和单边平衡。后期会加刹车。 https://zhuanlan.zhihu.com/p/175971541

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