How to tune the altitude loop?

cnpcshangbo / simscapeFOPD

Simscape drone altitude control with fractional order proportional derivate controller

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How to tune the altitude loop? #7

Open cnpcshangbo opened 6 years ago

cnpcshangbo commented 6 years ago

PID Tuner is not able to tune this plant.

cnpcshangbo commented 6 years ago

So try to tune it using my code from FOPD tunner. By using this project: https://github.com/cnpcshangbo/FOPD-tunner I am able to get the optimal IOPID parameters. C =

Kp + Ki --- + Kd s s

with Kp = 8.55, Ki = 8.79, Kd = 1.85

Continuous-time PID controller in parallel form.

info =

struct:

            Stable: 1
CrossoverFrequency: 7.1642
       PhaseMargin: 83.8783

cnpcshangbo commented 6 years ago

Then I am going to update those PID parameters in the simulator. ZPos altitude loop PID continuous Kp = 8.55, Ki = 8.79, Kd = 1.85, Kb=1, ITAE=0.99 However, the velocity loop has the oscillation. I have created a new issue for this: https://github.com/cnpcshangbo/simscapeFOPD/issues/8