My work is done on simulink consists of three key block: the first block is to read the information from the sensors, the second block is my command (eg backstepping), the third block is sending pWM signals to the motors.
I use a Zigbee module to communicate with Simulink and hexarotor I want to know how to adapt the speed calculated from command with the actual speeds that must be sent to the motors. In the simulation program, I find that speed values calculated from my backstepping control are very small they vary enter 1.724 and 1.736, so how to convert these values to real values that must be sent to the motors?
Hi, I'm just guessing, but You should be clear with all the units, which occurs in Your control loop. So, try to check the units of input and output variables and also if their values are calculated in the same units.
Hi Yassine
I think you must model the dynamic of your rotors then add a local close loop for rotor speed control too you may need N-coder for speed sensing of rotors.
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