Attitude rate controller issue

jc-bao / policy-adaptation-survey

This repository is for comparing the prevailing adaptive control method in both control and learning communities.

Apache License 2.0

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Closed jc-bao closed 1 year ago

jc-bao commented 1 year ago

In the existence of torque caused by the hanging object, the controller becomes unstable.

Some parameters

max motor torque	max object torque
9e-3Nm	0.01kg x 10m/s2 x 0.05m=5e-3Nm

Without object external torque: Kp=400 Ki=0 Kd=0. Quick converge.
With object external torque: using the same parameter have ~40% convergence error. When changing the Ki to a larger value like 1e6 (integration ~ 0.02 x 2e4 = 4e2. 400*1.0=4e2). There is a little overshoot, but the problem is resolved.

jc-bao commented 1 year ago

The problem is resolved by tuning the PID parameters through matching the Magnitude.