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cnpcshangbo / OS4_FOC

OS4 fractional order controller
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discrete iopid too slow in os4 #13

Open cnpcshangbo opened 6 years ago

cnpcshangbo commented 6 years ago

image discrete iopid A slow

cnpcshangbo commented 6 years ago

image iopid continuous B P=1.58, I=0.182, D=1.49.

cnpcshangbo commented 6 years ago

image discrete iopid B, very slow From this comparison, we think the problem is discritisization. I need to double check the parameters. cd =

299.6 z^2 - 596 z + 296.4

       z^2 - 1
cnpcshangbo commented 6 years ago

try replace tustin method

cnpcshangbo commented 6 years ago

try add rate transition

cnpcshangbo commented 6 years ago

https://ww2.mathworks.cn/content/dam/mathworks/tag-team/Objects/a/86599_analyze-design-in-the-pid-tuner-app.pdf This slow only exist in os4. Let's try to use PID TUNER to analysys.

cnpcshangbo commented 6 years ago

This issue is due to discretisization. I want to skip this for now and focus on the FOPD one.