Load Balancing
Posted: Wed Mar 23, 2022 11:28 am
I need to perform load balancing (as in electrical load) with two motors controlled by a RoboClaw 2x15A. Is there a way to read the duty commanded by RoboClaw's speed or position PID?
I want roboclaw to control the speed of the motors but if I just send SpeedAccel commands to the controller, one motor tends to do most of the work while the other just keeps pace.
Here's what I think I want to do (if there is a better alternative, I'd be happy to hear it):
1. Send a SpeedAccelM1 command
2. Immediately read the commanded M1 duty
3. Send a DutyAccelM2 command using the M1 duty from (2.)
4. (Possibly) implement an external PID control that monitors the current drawn by each motor and adjusts the M2 duty to balance the load (account for variations in motor performance).
Thanks
I want roboclaw to control the speed of the motors but if I just send SpeedAccel commands to the controller, one motor tends to do most of the work while the other just keeps pace.
Here's what I think I want to do (if there is a better alternative, I'd be happy to hear it):
1. Send a SpeedAccelM1 command
2. Immediately read the commanded M1 duty
3. Send a DutyAccelM2 command using the M1 duty from (2.)
4. (Possibly) implement an external PID control that monitors the current drawn by each motor and adjusts the M2 duty to balance the load (account for variations in motor performance).
Thanks