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cnpcshangbo / simscapeFOPD

Simscape drone altitude control with fractional order proportional derivate controller
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How to tune FOPD controller parameters? #9

Open cnpcshangbo opened 6 years ago

cnpcshangbo commented 6 years ago

I plan to tune the FOPD controller according to this: https://github.com/cnpcshangbo/FOPD-tunner

image So the cross point is ki0=ki1=0.2238, when lambda = -0.9693 kp=7.9733

cnpcshangbo commented 6 years ago

image image

cnpcshangbo commented 6 years ago

Then I put those FOPD parameters into the simulator. image assignin('base','wb',1e-3); assignin('base','wh',1e7); image

cnpcshangbo commented 6 years ago

Then I tried to run with my old parameters. image assignin('base','wb',1e-10); assignin('base','wh',1e-9); image

cnpcshangbo commented 6 years ago

To do: A. Try to investigate on why high frequency oscillation? B. Research on how to set the frequency range. What is bandwidth of a control system? C. Investigate on what should the speed set-point look like. Why it looks different? D. Search some articles to see if others have the same issue.

cnpcshangbo commented 6 years ago

Finally, we found the reason. I used Fractional DD block in the simulator, however, it is a continuous block, I need to change it to discrete block. image

Please refer to this new issue: https://github.com/cnpcshangbo/simscapeFOPD/issues/10

cnpcshangbo commented 6 years ago

image I added a new Edit to enter sampling period(Ts).

cnpcshangbo commented 6 years ago

image Then I added a c2d command to change the transfer function to discrete.