Model-based Control - Revision history

OlliW at 14:30, 23 November 2023

2023-11-23T14:30:38Z

← Older revision		Revision as of 16:30, 23 November 2023
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	~~The~~ STorM32's model-based gimbal control can take into account, to a certain extend, the non-linear axis couplings and the moments of inertia of the camera and the roll arm. It also allows us to model the different KV values of the pitch, roll and yaw motors.		STorM32's model-based gimbal control can take into account, to a certain extend, the non-linear axis couplings and the moments of inertia of the camera and the roll arm. It also allows us to model the different KV values of the pitch, roll and yaw motors.

	For the underlying theory see [http://www.olliw.eu/2018/camera-gimbals-a-robotics-approach/ Camera Gimbals: A Robotics Approach].		For the underlying theory see [http://www.olliw.eu/2018/camera-gimbals-a-robotics-approach/ Camera Gimbals: A Robotics Approach].

2023-11-23T14:27:21Z

← Older revision		Revision as of 16:27, 23 November 2023
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	\|}		\|}

	= Parameters =		= Gimbal Model Parameters =

	The model-based control ~~is enabled and determined by~~ the following parameters.		The model-based control can consider the following parameters.

	In the {{GUI\|~~Gimbal Model~~}} tab we see:		In the {{GUI\|PID}} tab we see:

	* {{PARAMNAME\|Foc Controller}}: Enables the model-based control, when set to {{PARAMVALUE\|mdl based wo roll mix}} or {{PARAMVALUE\|model based}}.
	* {{PARAMNAME\|Foc Pitch K}}, {{PARAMNAME\|Foc Roll K}}, {{PARAMNAME\|Foc Yaw K}}: Can account for different KV values of the pitch, roll and yaw motors.		* {{PARAMNAME\|Foc Pitch K}}, {{PARAMNAME\|Foc Roll K}}, {{PARAMNAME\|Foc Yaw K}}: Can account for different KV values of the pitch, roll and yaw motors.

2023-11-23T14:25:09Z

Parameters

← Older revision		Revision as of 16:25, 23 November 2023
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	The model used for control is determined by the {{PARAMNAME\|Foc Controller}}/{{PARAMNAME\|Controller}} parameter in the {{GUI\|PID}} tab, and can assume these settings:		The model used for control is determined by the {{PARAMNAME\|Foc Controller}}/{{PARAMNAME\|Controller}} parameter in the {{GUI\|PID}} tab, and can assume these settings:

	~~{\| class="wikitable" style="text-align: center;"~~
	~~!gimbal type~~
	~~!TSTorM32~~
	~~!STorM32 w IMU2~~
	~~!STorM32 wo IMU2~~
	\|-
	~~\| 3 axis \|\|~~
	~~{{PARAMVALUE\|default}}</br>~~
	~~{{PARAMVALUE\|roll mixing}}</br>~~
	~~{{PARAMVALUE\|mdl based wo roll mix}}</br>~~
	~~{{PARAMVALUE\|model based}}~~
	\|\|
	~~{{PARAMVALUE\|default}}</br>~~
	~~{{PARAMVALUE\|roll mixing}}~~
	~~\|\| -~~
	\|-
	~~\| pitch-roll \|\| - \|\| - \|\| -~~
	\|-
	~~\| pitch-yaw \|\| - \|\| - \|\| -~~
	\|}


	{\| class="wikitable" style="text-align: center;"		{\| class="wikitable" style="text-align: center;"
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	!pitch-yaw (w IMU2)		!pitch-yaw (w IMU2)
	\|-		\|-
	\| {{PARAMVALUE\|default}} \|\| - \|\| - \|\| - \|\| - \|\| - \|\| -		\| {{PARAMVALUE\|default}} \|\| x \|\| x \|\| - \|\| - \|\| - \|\| -
	\|-		\|-
	\| {{PARAMVALUE\|roll mixing}} \|\| - \|\| - \|\| - \|\| - \|\| - \|\| -		\| {{PARAMVALUE\|roll mixing}} \|\| x \|\| x \|\| - \|\| - \|\| - \|\| -
	\|-		\|-
	\| {{PARAMVALUE\|mdl based wo roll mix}} \|\| - \|\| - \|\| - \|\| - \|\| - \|\| -		\| {{PARAMVALUE\|mdl based wo roll mix}} \|\| x \|\| - \|\| - \|\| - \|\| - \|\| -
	\|-		\|-
	\| {{PARAMVALUE\|model based}} \|\| - \|\| - \|\| - \|\| - \|\| - \|\| -		\| {{PARAMVALUE\|model based}} \|\| x \|\| - \|\| - \|\| - \|\| - \|\| -
	\|}		\|}

2023-11-23T14:24:41Z

Parameters

← Older revision		Revision as of 16:24, 23 November 2023
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	!model		!model
	!3 axis (TSTorM32)		!3 axis (TSTorM32)
			!3 axis (w IMU2)
	!pitch-roll (TSTorM32)		!pitch-roll (TSTorM32)
	~~!3 axis (w IMU2)~~
	!pitch-roll (w IMU2)		!pitch-roll (w IMU2)
			!pitch-yaw (TSTorM32)
			!pitch-yaw (w IMU2)
	\|-		\|-
	\| {{PARAMVALUE\|default}} \|\| - \|\| - \|\| - \|\| -		\| {{PARAMVALUE\|default}} \|\| - \|\| - \|\| - \|\| - \|\| - \|\| -
	\|-		\|-
	\| {{PARAMVALUE\|roll mixing}} \|\| - \|\| - \|\| - \|\| -		\| {{PARAMVALUE\|roll mixing}} \|\| - \|\| - \|\| - \|\| - \|\| - \|\| -
	\|-		\|-
	\| {{PARAMVALUE\|mdl based wo roll mix}} \|\| - \|\| - \|\| - \|\| -		\| {{PARAMVALUE\|mdl based wo roll mix}} \|\| - \|\| - \|\| - \|\| - \|\| - \|\| -
	\|-		\|-
	\| {{PARAMVALUE\|model based}} \|\| - \|\| - \|\| - \|\| -		\| {{PARAMVALUE\|model based}} \|\| - \|\| - \|\| - \|\| - \|\| - \|\| -
	\|}		\|}

2023-11-23T14:24:02Z

Parameters

@@ Line 28: / Line 28: @@
 |-
 | pitch-yaw || - ||  - || -
 |}

2023-11-23T14:11:30Z

Parameters

← Older revision		Revision as of 16:11, 23 November 2023
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	{{PARAMVALUE\|roll mixing}}</br>		{{PARAMVALUE\|roll mixing}}</br>
	{{PARAMVALUE\|mdl based wo roll mix}}</br>		{{PARAMVALUE\|mdl based wo roll mix}}</br>
	{{PARAMVALUE\|model based}} \|\| - \|\| -		{{PARAMVALUE\|model based}}
			\|\|
			{{PARAMVALUE\|default}}</br>
			{{PARAMVALUE\|roll mixing}}
			\|\| -
	\|-		\|-
	\| pitch-roll \|\| - \|\| - \|\| -		\| pitch-roll \|\| - \|\| - \|\| -

2023-11-23T14:09:32Z

Parameters

← Older revision		Revision as of 16:09, 23 November 2023
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	!STorM32 wo IMU2		!STorM32 wo IMU2
	\|-		\|-
	\| 3 axis \|\| {{PARAMVALUE\|default}}</br>		\| 3 axis \|\|
			{{PARAMVALUE\|default}}</br>
	{{PARAMVALUE\|roll mixing}}</br>		{{PARAMVALUE\|roll mixing}}</br>
	{{PARAMVALUE\|mdl based wo roll mix}}</br>		{{PARAMVALUE\|mdl based wo roll mix}}</br>
	{{PARAMVALUE\|model based}}		{{PARAMVALUE\|model based}} \|\| - \|\| -
	\|\| - \|\| -
	\|-		\|-
	\| pitch-roll \|\| - \|\| - \|\| -		\| pitch-roll \|\| - \|\| - \|\| -

2023-11-23T14:09:10Z

Parameters

← Older revision		Revision as of 16:09, 23 November 2023
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	\|-		\|-
	\| 3 axis \|\| {{PARAMVALUE\|default}}</br>		\| 3 axis \|\| {{PARAMVALUE\|default}}</br>
	{{PARAMVALUE\|roll mixing}}		{{PARAMVALUE\|roll mixing}}</br>
	{{PARAMVALUE\|mdl based wo roll mix}}		{{PARAMVALUE\|mdl based wo roll mix}}</br>
	{{PARAMVALUE\|model based}}		{{PARAMVALUE\|model based}}
	\|\| - \|\| -		\|\| - \|\| -

2023-11-23T14:08:55Z

Parameters

← Older revision		Revision as of 16:08, 23 November 2023
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	!STorM32 wo IMU2		!STorM32 wo IMU2
	\|-		\|-
	\| 3 axis \|\| {{PARAMVALUE\|default}}<\br>		\| 3 axis \|\| {{PARAMVALUE\|default}}</br>
	{{PARAMVALUE\|roll mixing}}		{{PARAMVALUE\|roll mixing}}
	{{PARAMVALUE\|mdl based wo roll mix}}		{{PARAMVALUE\|mdl based wo roll mix}}

2023-11-23T14:08:47Z

Parameters

← Older revision		Revision as of 16:08, 23 November 2023
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	!STorM32 wo IMU2		!STorM32 wo IMU2
	\|-		\|-
	\| 3 axis \|\| {{PARAMVALUE\|default}}		\| 3 axis \|\| {{PARAMVALUE\|default}}<\br>
	{{PARAMVALUE\|roll mixing}}		{{PARAMVALUE\|roll mixing}}
	{{PARAMVALUE\|mdl based wo roll mix}}		{{PARAMVALUE\|mdl based wo roll mix}}
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	\| pitch-yaw \|\| - \|\| - \|\| -		\| pitch-yaw \|\| - \|\| - \|\| -
	\|}		\|}




	* {{PARAMVALUE\|default}}
	* {{PARAMVALUE\|roll mixing}}
	* {{PARAMVALUE\|mdl based wo roll mix}}
	* {{PARAMVALUE\|model based}}

	~~The available settings~~

	= Parameters =		= Parameters =

← Older revision		Revision as of 16:11, 23 November 2023
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	{{PARAMVALUE\|roll mixing}}</br>		{{PARAMVALUE\|roll mixing}}</br>
	{{PARAMVALUE\|mdl based wo roll mix}}</br>		{{PARAMVALUE\|mdl based wo roll mix}}</br>
	{{PARAMVALUE\|model based}} \|\| - \|\| -		{{PARAMVALUE\|model based}}
			\|\|
			{{PARAMVALUE\|default}}</br>
			{{PARAMVALUE\|roll mixing}}
			\|\| -
	\|-		\|-
	\| pitch-roll \|\| - \|\| - \|\| -		\| pitch-roll \|\| - \|\| - \|\| -