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fselius / qtcopter

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PID Tuning will be done on friday #64

Open roeemz opened 9 years ago

roeemz commented 9 years ago

Because we all want to fly we need to get the PID parameters and because we are limited on air time we should use some algorithm to quickly figure out the values.

Lets use this to cover some ideas.

roeemz commented 9 years ago

To tune a PID use the following steps:

Set all gains to zero. Increase the P gain until the response to a disturbance is steady oscillation. Increase the D gain until the the oscillations go away (i.e. it's critically damped). Repeat steps 2 and 3 until increasing the D gain does not stop the oscillations. Set P and D to the last stable values. Increase the I gain until it brings you to the setpoint with the number of oscillations desired (normally zero but a quicker response can be had if you don't mind a couple oscillations of overshoot)

roeemz commented 9 years ago

http://www.pidlab.com/ Offers some java script app that will guide us through the tuning process.

roeemz commented 9 years ago

http://home.hit.no/~hansha/documents/control/theory/tuning_pid_controller.pdf

What Ohad sent.