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 an opposed hinged thruster pair previously. The force generated by the pair is cancelled at neutral angle. But a pair is not needed when there are multiple controller units in one machine. I can have side-way forces of opposing units cancelling each other. like the example below on the right, the front and back controller units for a pair, their hinged thrusters cancel each other's. Hence, I can cut down the block count, save space as well because there are fewer moving parts. 1-sensor PD controller unit with a hinged thruster pair and D thruster pair; hover system with 4 controllers A note for the initial angle of hinged thrusters. I have to make sure...

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 steerin...