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cs:control:start [2016/11/24 08:49] Ryan Summers |
cs:control:start [2018/01/28 23:05] (current) Ryan Summers |
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| ====== Control System ====== | ====== Control System ====== | ||
| - | <WRAP center round important 60%> | ||
| - | Note: This section was determined through reverse-engineering by Ryan and is pending confirmation. | ||
| - | </WRAP> | ||
| The control system follows basic [[http://www.eurotherm.com/pid-control-made-easy|PID theory]], but has two additional parameters called hysteresis (H) and windup (W). The hysteresis essentially creates a deadband. If the error $E$ defined in ($\ref{eq:error}$) is below the hysteresis level, the error can be assumed as (set to) zero, and thus no corrective action is required. The windup term acts to limit the integral portion of the accumulated error. If the integral value is above the windup level, it will be truncated to the windup value. Therefore, the integral can never increase or decrease infinitely because it will always be capped by the windup. | The control system follows basic [[http://www.eurotherm.com/pid-control-made-easy|PID theory]], but has two additional parameters called hysteresis (H) and windup (W). The hysteresis essentially creates a deadband. If the error $E$ defined in ($\ref{eq:error}$) is below the hysteresis level, the error can be assumed as (set to) zero, and thus no corrective action is required. The windup term acts to limit the integral portion of the accumulated error. If the integral value is above the windup level, it will be truncated to the windup value. Therefore, the integral can never increase or decrease infinitely because it will always be capped by the windup. | ||
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| ====== Control System Notes====== | ====== Control System Notes====== | ||
| - | 1. When tuning pitch and roll tune PID params while the sub is moving. This is because we only currently care about keeping the sub level while moving. | + | 1. When tuning pitch and roll PID params, tune them just to keep the sub stable when moving forward/strafing. This is because we only currently care about keeping the sub level while moving, don't really care as much about overshoot when moving between different pitch/roll angles. |
