0. Foreword
Seeing that some students have some difficulties in the debugging process of the single-wheel set ramp, I will briefly share the precautions during the ramp debugging process to see if you have these problems during the debugging process.
1. Ramp selection
First of all, we need to choose a suitable ramp that complies with the competition rules. Let’s first look at the ramp requirements in the competition rules: the slope should not exceed 20°, and the arc length of the ramp should be greater than 10 cm. There are no restrictions on the length and height of the ramp. The angle we choose for the test ramp is 19°, and the total length of the ramp is 110cm.
▲ 图1.1 规则中对于坡道的描述
▲ 图1.2 实际测试坡道
2. Suggestions for program debugging
When debugging the wheel program of the unicycle, it is necessary to perform closed-loop control on the value collected by the encoder for the motor of the wheel, and to adjust the PID parameters of the speed loop slightly larger, so that the car model can go up the ramp by leaning forward at a small angle, and at the same time There will also be good restraint when going downhill, preventing the car model from going downhill too fast. If the speed loop PID parameter is relatively small, the forward lean angle of the car model will increase when going uphill, causing the momentum wheel protective cover to get stuck on the track, making it impossible to go uphill.
▲ 图2.1 使用手机测量坡道
3. Momentum wheel protective cover
It is better to leave a gap at the bottom of the protective cover when designing, so that there is enough space at the lower end of the protective cover to prevent the car model from being stuck on the ramp due to a small angle of inclination, and at the same time prevent the momentum wheel protective cover from getting stuck on the traveling wheel.
▲ 图2.2 动量轮保护罩下面的缺口
▲ 图2.3 动量轮保护罩下面的缺口
Let's take a look at the ramp debugging video.
▲ 图3.3 保护罩上的缺口
▲ 图3.4 独立车上的保护罩
▲ 图3.5 过坡道演示
▲ 图3.6 过坡道演示视频
※ Summary ※
This article discusses the dos and don'ts for commissioning a unicycle set ramp.
Precautions for wheelbarrow debugging
● Links to related diagrams:
- Figure 1.1 Description of the ramp in the rules
- Figure 1.2 Actual test ramp
- Figure 2.1 Using a mobile phone to measure a slope
- Figure 2.2 The gap under the protective cover of the momentum wheel
- Figure 2.3 The gap under the protective cover of the momentum wheel
- Figure 3.3 The gap on the protective cover
- Figure 3.4 Protective cover on stand-alone vehicle
- Figure 3.5 Demonstration of crossing the ramp
- Figure 3.6 Demonstration video of crossing the ramp