Tune speed loop from balance point rather than ground

cnpcshangbo / simscapeFOPD

Simscape drone altitude control with fractional order proportional derivate controller

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Open cnpcshangbo opened 6 years ago

cnpcshangbo commented 6 years ago

cnpcshangbo commented 6 years ago

First, I need to change the velocity set-point to step function https://github.com/cnpcshangbo/simscapeFOPD/issues/4#issue-299619847 Then I need to add another step function at 9 sec.

cnpcshangbo commented 6 years ago

PID=8,6,0.32, ITAE=0.18 static err != 0

cnpcshangbo commented 6 years ago

PID=8,8,0.32, ITAE=0.19 static err = 0

cnpcshangbo commented 6 years ago

PID=10,8,0.32,ITAE=0.20, static err=0

cnpcshangbo commented 6 years ago

PID=7,8,0.32,ITAE=0.20, slower

cnpcshangbo commented 6 years ago

So 8,8,0.32 is the best. Let me see if it solves the static error in FOPD controller.

cnpcshangbo commented 6 years ago

The static issues is solved. It is unstable now. I'll need to retune the parameters in FOPD.

cnpcshangbo commented 6 years ago

System identification.