Reaction wheel balancing cube
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- Опубликовано: 11 сен 2024
- ESP32 controller, Nidec24H motors, MPU-6050, 500 mAh 3S1P LiPo, 3D printed frame.
Also you can use Arduino nano controller.
How to build this:
• How to build self bala...
• Reaction wheels for be...
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I saw one of those that could stand up on their own onto one corner. But that was not self devoloped and build as a group project. Cool what you did here
Do you have a link?
Look up cubli
add wireless charging and it will balance forever. Love it!!
or just make it wired haha
You Deserve More Subscribers!!!.
I'VE BEEN WAITING YEARS FOR SOMEONE TO BUILD ONE!!!!!
OMG this must have so precise PIDs :O
Doesn't need a wheel, just a stalk with a mass on the end of it to move in a sector, 60 degress max. That will solve latency issues that we see here.
Yes, stalk with a mass on the end of it can be used. But if it moves 60 degrees max, it will be very hard to tuning. Wheel is many simpler way.
Excellent!! Three axis reaction wheels!!
Amazing build!
I want one.... you should make mass productolions of these tecnological toys. :)
No these are meant for his Orbital hunter-killer vehicles. He is going after Elon's space Internet.
I assume that the one that disliked this piece of work must be an SpaceX engineer...
Awesome !!!
awesome work!
I know I'm not the first, but I would like to try to build one, if you could provide code and models, it would make me very happy :)
How to build: ruclips.net/video/AJQZFHJzwt4/видео.html
Could you tune the (pid?) control algorithm to allow it to rotate itself?
EDIT: OK I've just seen the Cubli, so I have my answer. Yes. Very neat.
Since I first saw cubli, this project sits in my to do list… maybe someday
@@MCgranat999 I'm starting on this today. Got a few parts on hand, accelerometer and gyro I believe. I need to make a BOM. First though, coffee and 3d print this frame. That's a nice sunday morning activity.
@@TheJacklwilliams Hah nice!
I'm about to calibrate my 3d printer from the ground up.
I mean it works fine but I want to update the firmware on it so I thought I'll calibrate it too, maybe I'll achieve more accuracy which would be nice.
One question what do you mean by BOM?
@@MCgranat999 LOL your comment made me feel better as I hadn’t known till slipping over here to the hardware dark side... Bill of materials, which is all the parts for the project. Re calibration agreed. Mine requires massive adjustment without a heat controlled cabinet which I believe makes a hell of a difference...
@@TheJacklwilliams
That makes sense ;P
I don't have any cabinet on my printer, I don't know if this would change much since I'm only using PLA for now.
It would be a necessity if I wanted to start printing with TPU or ABS but for now it's good as it is.
Wow! It's awesome!
Again, it is awesome! Great work. I think for point balancing we need three wheels.
pretty dope!
Not sure if this interests you but I'm sure many people would love to buy this as a consumer product
What happens if you put it upside down? with the wheels on top? I expect the low center of gravity probably helps with the energy consumption since it should take less rotations to maintain stability.
Of course I tried this. You can see in this video ruclips.net/video/DshWeMvtPqg/видео.html
good job..
You know what would be cool? Making it into a decor, with the aesthetics similar to that of swinging sticks or newtons cradle, or "perpetual motion" machine. Just putting it on a desk or tabletop.
One problem would be the power source. you either connect the machine to the grid, or maybe solar?
The other problem would be over heating of the motors? or could the motors handle it?
He could maybe use a wireless charging system like cellphones use to transmit enough power.
@@Skwisgar2322 I thought of that, but afraid that would add more complexity.
Just make edge points wider and make a couple of connecting points, i.e. + in the centre - outer ring.
It could be on a charging plate and automatically lie down and charge when it detects low battery
Really, really cool project. Inspires my to also create one of these as a project.
@REM-RC: Do you think it's also possible for your cube to stand up on its own? From flat surface to one lined and at last to one edge?
No, for this needs mechanical brake.
Genius
Would make a good for a good technoart kickstarter!
I have seen some (much larger) versions of this that spin the wheels up to a constant speed, and then begin balancing, by slowing or speeding the wheels - rather than reversing them. Is that less efficient in such a small design, therefore you chose to reverse the wheels? Quite curious, and yet quite delightful :)
Yes, it is a good idea. I was going to try.
I don’t specifically change the direction of the motors. But I try not to let it get to saturate. More torque if motors not spin.
@@ReMRC Makes sense! I think on one of the videos you did mention a low RPM on your bldcs
@@StormBurnX Yes. But these are not the same motors.
Nice i like to bild one. What dimensions have the square.
Give that thing solar panels and a very long cycle life rechargeable battery and use it as a neat active ornament on a pedestal.
Nice work! I'm trying to duplicate your work and am curious, are you controlling the PWM to the motors as well as the direction of rotation? It appears so in your videos. Any chance you would share the code?
Yes, I controlling the PWM and direction of rotation. And I also don’t let the wheels spin too much. You tried balancing with reaction wheel in one axis?
@@ReMRC Not yet. Got a little ahead of myself and machined the entire cube with three flywheels already. Mine is made of aluminum. Lol, I'm better at machining the parts than writing the code. Your work has helped me a lot already. I bought the same motors and MPU.
A cool trick would be to spin it fast like a top and start the video and it would just look like a top and then when it slowed down you would be able to see that it could stay up without spinning
You're running the Nidec 24H motors at 12V with that lipo? Do the motors run ok? My datasheet for the 24H says Vin is supposed to be 24V
Chinese "datasheet" says 12-24V. It works normal from 9V. Less I didn’t try.
@@ReMRC awesome, thanks for the info :)
Hi ReM-RC, can you add more info for electronic assembly please ?
I don't understand all the elements
ESP32 as controller, BLDC motors with controller inside and mpu6050. Simple. The speed of the motors is controlled in the same way as DC motors (pwm).
@@ReMRC It's always easy when you know :)
You should form and sell a kit of this ... i'd totally buy one and 3dprint + assemble
You would get more stability with 2 motors per axis, each opposing wheel spinning in only one direction.
Maybe yes, but this is increased weight, the size of the cube needs to be increased and probably the engines would already be too weak...
Nice work! Did you use PID controller, or did you use the dynamics of the system (LQR and so on)?
and if you used an LQR starting from the dynamics, did you applied directly torque to the motor or did you need to convert it to speed command? (I'm working on a self balancing robot, and I'm thinking how to be more accurate on this step...try to command the motor in torque directly - current control, or just conversion :))
LQR. What is the difference between torque and speed in this case? I don't use encoders. I set pwm for motor. Ideal, if motor not turn at all. But this is not possible. Due this need stop motor rotation.
My algorithm is very simple. Not best, but simplest.
@@ReMRC torque is directly linked to the instantaneus acceleration. I don't know about BLDC motors, but if the principle is similar to the brushed DC you can only do velocity feedback (but with current sensing, even torque loop)
where did you get the motors and all the other parts from ?
ebay, ali...
Hey man, I'm amazed by your work. I was wondering about the nidec 24H motors you are using. Are they BLDC motors with built in esc? if that is actually the case these motors are awesome and I would like to use them myself!
Yes, built in esc.
@@ReMRC is there a minimum speed? Or can you go extremely slow?
@@jaspervandenameele4834 Motor? Yes, it can rotate slow.
Very good
👍
I build and fly fpv drones ,is this all that different from building one of those parts wise ? Could you use brushless motors ? I'm assuming it's just motors ,escs, and some sort of controller with an imu/accelerometer? I want to make one now haha I have a 3d printer too have you made the files open?
BLDC motors suitable. But not drone motors. Big current and RPM. Gimbal motors are better suited...
Can you please briefly explain how you went about changing the output PWM of the ESP32 to roughly 20kHz - 30kHz (the ESC's nominal PWM in-frequency according to the 24H datasheet) or did you use the standard PWM frequency and just change the duty cycle? Excuse me if my question is flawed in some way. Thank you!
I use ledcWrite. 20kHz PWM.
@@ReMRC thanks!
i want a full tutorial to make this
Can this rotate itself so a particular point is facing you? I would think the three wheels are able to direct themselves to accommodate this?
Yes, three wheels allow it, I try to do, but there is a problem with wheel saturation. I'll show in the next video.
Need better PID tuning so the robot can stay still and not overshoot.
It is always possible to do better.
I wonder if it can be better to spin the rotors in one direction with certain speed before (to have more stored energy) and then balance whole thing just by changing the speed instead of stopping and changing direction. Have you tried that?
More stored energy only in one direction. And less stored energy in another. But I will try this.
@@ReMRC but you are regulating it not by speed itself, but by change of speed. So slowing down or spinning up from constant speed can have same influence as spinning left or right from stop
Does it got the torque to jump from flat to edge, and edge to corner states?
No. For this need mechanical brake. So does the Cubli. :)
I wonder if you add a reaction wheel to a two wheel balancing robot, would that be of any benefit?
No. First remove one wheel, and change it with reaction wheel. :)
ruclips.net/video/gMUbhUjxXhY/видео.html
I know three wheels are very common for cubes, but why ae six wheels never used for redundancy and having more output within the same space, as two wheels are more powerful than one, but only running one wheel of the two would result in finer movement due to the reduction of output?
This would greatly increase the weight of the cube. This makes it difficult to balance.
Hello
Im doing the same thing but i need to know whats the kp ki kd of the pid controller in this system.
What is the values that u are using?
If you want to say that PID values can help you - you need to learn more about PID. Also you can watch another my video about how to build self balancing cube.
@@ReMRC the project is doing good atm but we have some problems with vibrations the object is shaking and its effcting on the sensor values
Do you think we should increase the thickness of the cube so we can remove the vibrations effect?
@@mechy8887 Vibrations? I didn't notice anything like that. Can you show me the video?
@@ReMRC the vibrations generates while the dc motor is speeding up tho
I dont have any video on youtube about this how can i show you?
@@mechy8887 Share google drive or something.
can u please share information regarding this topic
can u share calculation regarding this
Most impressive and fascinating ‼️👍😃. Can it balance also on the opposite corner ?
Opposite corner? I will show it in next video. :)
rad
Absolutely great work bro... As a Senior Software Developer I salute you hommez!!
New SUBSCRIBER!
Sweet
🇧🇬🛸😁
somebody send this to daily dose.
Hey man , awesome work, that is a pretty neat project as well as the others you already did. I would like to know if you happen to have 1 website or a tutorial of some sort as I can dabble in Arduino and stuff and I would really like to do this project for educational purpose as well as for fun . Again awesome work ! And thanks for your eventual reply !
I don’t have any material for learning at the moment. Maybe later I'm going to do more material on that.
@@ReMRC thanks for your reply, could you provide a list of the stuff to buy and some code examples ? I do own a 3d printer but I would like to know what products you bought with the specs to try and replicate your project, but I also have no clue for the motor and flywheel code to work with mpu6050 I mean have you used a filter or PID system , or both . It would be awesome to have some more information! I would be willing to pay something back for this as a kit for this cost a lot and everything is provided but I would love to scavenge everything myself and learn from your code.
Hi! Where can I buy Nidec motors? Thank you
ebay, ali...
that is great. please share a tutorial
How to build: ruclips.net/video/AJQZFHJzwt4/видео.html
Have you ever forgotten to set a saturation limit and blown apart a reaction wheel?
No. :) The wheels can spin at maximum speed, nothing bad happens.
Can it be coupled with a gyro for insane stability?
Maybe I not understand question, but it works with gyros...
@icanfast the MPU-6050 used includes both gyroscope and accelerometer
can i buy cube plz
Bruh. Humor me. Looks like if you make a PC case with this.
You'd be selling a work of engineering art that people would consume.
lmao what. Imagine the size of the reaction wheels when we're balancing a desktop PC that weighs like 10-15 pounds. Wouldn't they have to be equally large and heavy to cancel out the force of a tower PC tipping over? and then there's all the hardware taking up space and it can't be placed randomly since we need a predetermined center of mass. That pc would be the size of a washing machine.
Can I get a sketch and diagram?
Most important is the code reading the sensors and appropiatly driving the motors. The hardware is like 30% of the job i’d say.
@@Engineer9736 I understand that. I would like to repeat this project. Won't you share it?
Hello there ! Can we buy this complete system from you ?
and code, please
How to build: ruclips.net/video/AJQZFHJzwt4/видео.html
So you just copied the cubli right?
Copied? Hmmm... :)
Awesome work!!!! Is the source code available ? Would be willing to pay for it
How to build: ruclips.net/video/AJQZFHJzwt4/видео.html
Have trouble beating your friend in Beyblade? Mmmm
Also Is It Possible For You To Explain This Effect?.
If you let a motor accelerate then the housing of the motor pushes the opposite direction of where the axis is turning. That is Newtons third law. He has sensors like digital spirit levels or accelerometers in this cube which tells which direction the cube is falling, then he accelerates the appropiate motors to counteract the falling direction. Quite a neat accomplishment to achieve.
@@Engineer9736 Thanks A Lot!!!.
@@jhonsqueaks4573 Also, they use these reaction units to keep satellites in orbit.
Are anu of your creations for sale?
No. Sometime I use the same parts for other projects.
@@ReMRC please keep me in mind if you change your mind
@@ReMRC It's horrible. I often do that too. I learned in a book that eskimos like to carve for days small sticks into delicate figurines and then throw them away...
Wow! Have you ever tried making one with PID code?
PID would also be appropriate.
@@ReMRC woudnt it make the coding a lot simpeler?
@@pieterbrouns3030 No. Simpler is what is better known.
@@ReMRC alright, thanks for the feedback!
Wow. SUB! That's... wow.
Nidec24H is really quiet @.@
Diy tutorial pls
How to build: ruclips.net/video/AJQZFHJzwt4/видео.html
@@ReMRC thx!
Pep
Pls sell me one
In not saying it’s fake but it looks like it’s being held up by string by the way it moves.
Technology can be fascinating like magic if you don't have any understanding about how it works
It’s not that hard to accomplish this project
Because accurate gyro sensors and 3D printing are getting cheaper and cheaper nowadays.
Since this system only working on balance point, you can do it with simple linear controller like PID or LQR.
But over all, still a fantastic work. Great job.
2:!3 that is not as difficult as it looks 🙄
Sir fak h ya vidio hm dak leya h patla wala thered sha bada h ya