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cnpcshangbo / simscapeFOPD

Simscape drone altitude control with fractional order proportional derivate controller
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How to implement anti-windup in discrete transfer function block? #22

Open cnpcshangbo opened 6 years ago

cnpcshangbo commented 6 years ago

I found that when I use discrete transfer function block to implement IOPID controller, it makes big saturation.

cnpcshangbo commented 6 years ago

I have to use continuous PID block to implement the anti-windup.

cnpcshangbo commented 6 years ago

I'll try to see if the figure gets better in the updated PID parameters. The updated parameters can be found in Word file. To run the Simscape file, I need to launch the Simulink prj file, the open the Quadrotor_Controller.slx.

cnpcshangbo commented 6 years ago

image From this figure we can see that FOPD is better. ITAE of FOPD: 0.79 ITAE of IOPID: 0.89