I try to understand what the PID controller of a gimbal stabilizer boards (e.g Storm32BGC) does influence?
From the IMU we get position and velocity after sensor funsion. The input variable of the plant seems to be the speed of the gimbal motor (since its driven by 3 sine waves), not the voltage as usual in a brushed dc motor setup. So one can not just implement a torque control for holding the position. When I investigated the Storm32BGC, it looks like the PID does influence the position and the speed at the same time: Fast movements leads to fast speed corrections, but also the deviation from the stationary position leads to a given speed. This two speed signals seems to add up. Has anyone an Idea how this is done? I could not find any papers about this topic.