Archive for February, 2015:

Feedback loops and instability

Big steps forward and a few small losses, but altogether positive. I have now finished incorporating the code for the optical encoders, but as you would expect with such feedback, the system has become slightly unstable. As the pitch axis moves towards it’s setpoint (as determined by serial input) it is travelling at full speed. When it reaches the destination there is enough momentum to carry the gimbal past it’s setpoint. Then the system tries to correct by driving full speed in the opposite direction. This action is repeated indefinitely, and is something I knew was coming. It is the
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