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Tune speed loop from balance point rather than ground #16

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cnpcshangbo opened this issue Mar 10, 2018 · 9 comments
Open

Tune speed loop from balance point rather than ground #16

cnpcshangbo opened this issue Mar 10, 2018 · 9 comments

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@cnpcshangbo
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#5 (comment)
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cnpcshangbo commented Mar 10, 2018 •
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First, I need to change the velocity set-point to step function
#4 (comment)
Then I need to add another step function at 9 sec.

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cnpcshangbo commented Mar 10, 2018 •
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PID=8,6,0.32, ITAE=0.18 static err != 0

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cnpcshangbo commented Mar 10, 2018 •
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PID=8,8,0.32, ITAE=0.19 static err = 0

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PID=10,8,0.32,ITAE=0.20, static err=0

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PID=7,8,0.32,ITAE=0.20, slower

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So 8,8,0.32 is the best. Let me see if it solves the static error in FOPD controller.

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The static issues is solved. It is unstable now. I'll need to retune the parameters in FOPD.

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System identification.

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