LQR Balancer

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hardware specs

  • NEMA17 Stepper Motors
  • ESP32-WROOM Controller
  • MPU6050 IMU
  • Modified wall-e frame

control parameters

  • LQR
  • MATLAB to verify
  • Complementary filter

Project Timeline

✓

Modeling and Sim

✓

First iteration

Starting again

Testing

Development Approaches

Flaws in Current Implementation

  • Inadequate frequency/sample rate analysis
  • Superficial stepper motor understanding
  • Limited stepper control methods explored
  • Primitive complementary filter implementation

Ground-Up Reconstruction

  • Complete system redesign with fundamental approach
  • Custom stepper library
  • Kalman filter implementation
  • Continuous verification of first principles
  • Julia just becauses its cool
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