Lemonade-1, with a 3-sensor tracker based 3-controller system for hovering This series of articles document how my approximated automation-block PID controller works and how I implement them on self-stabilizing machines. Hinged Thruster Configuration for Hovering Machines The P-controller output was introduced as a opposed hinged thruster pair. The the force generated by a hinged thruster pair is cancelled at neutral. When having multiple controller units in a machine, the side-way force can be cancelled by one of the hinged thrusters in another unit. Thus the block count can be cut down and the implementation of the mechanism is easier as there are less moving parts to install. 1-sensor PD controller unit with a hinged thruster pair and D thruster pair; Hover system that consists 4 controllers A note for the initial angle of hinged thrusters. The Initial angle of hinged thrusters determines the output range. In the configuration shown in the pic below, the 1-sen

Automation block balanced motorcycle This series of articles document how my approximated automation-block PID controller works and how I implement them on self-stabilizing machines. Proportional Controller on Bikes For a motorcycle to self balance, a P controller is a must. A simple 2 sensor and reaction wheel will make a motorcycle oscillate badly. To build a vanilla self-balancing bike, the mechanism has to be small. I chose to fit this gyroscope system in the bike shown in the picture. As the spinning-block-powered contra-rotating gyroscope spins, the torque is canceled. However if the axes of rotation of the two gyroscopes are not aligned perfectly, a net torque is generated and increases as the angle between the axes of rotation gets bigger. The two spinning blocks on steering hinges provides torque to balance the motorcycle, and the 2-anglometer angle tracker is synchronized with one of the 2 hinges. Another hinge is used to tilt the motorcycle The generated to

ORC-43 Buan Hover Car, implemented with tracker-based PD controllers. Link This series of articles document how my approximated automation-block PID controller works and how I implement them on self-stabilizing machines. Trackers and Steering Hinge Syncing To see the sensor beams in simulation, The Colliderscope mod  Must be installed. Other mods from Dagirefaa are also recommended for advanced building. The stabilization systems I developed is based on trackers and steering hinge/block synchronization. Either a single-sensor version with RTC steering hinge, or a 2-sensor non RTC version will do the job. The same idea can be applied to absolute angle tracking with anglometer blocks. And again, in my notes I assume the readers have a certain understanding in Besiege building to replicate these just by a glance. Tracking the relative height to the ground with 1-sensor or 2-sensor tracker To make the tracking useful, I need to utilize the angle of the steering hi