From f2e85c4629012f4c52e51769399f71ccfe78701a Mon Sep 17 00:00:00 2001 From: EmaMaker Date: Fri, 5 Jan 2024 12:55:24 +0100 Subject: [PATCH] pid: recalibrate with ziegler-nichols2 and matlab simulation --- .../selfbalance-madgwick.ino | 36 +++++++++--------- .../self_balance_correct_measurementunits.mlx | Bin 5829 -> 6247 bytes .../self_balance_pid_discr_torquereverse1.slx | Bin 0 -> 162339 bytes ...balance_pid_discr_torquereverse_pidzn2.slx | Bin 0 -> 143760 bytes 4 files changed, 18 insertions(+), 18 deletions(-) create mode 100644 matlab-sim/self_balance_pid_discr_torquereverse1.slx create mode 100644 matlab-sim/self_balance_pid_discr_torquereverse_pidzn2.slx diff --git a/firmware-arduino/selfbalance-madgwick/selfbalance-madgwick.ino b/firmware-arduino/selfbalance-madgwick/selfbalance-madgwick.ino index 147ed42..422f6ad 100644 --- a/firmware-arduino/selfbalance-madgwick/selfbalance-madgwick.ino +++ b/firmware-arduino/selfbalance-madgwick/selfbalance-madgwick.ino @@ -9,14 +9,18 @@ constexpr float MOT_DX_MULT = 1.0; ArduPID myController; // Calculated with matlab, then adjusted by hand -// Decent values? -/*constexpr double KP = 2.5; -constexpr double KI = 0.04; -constexpr double KD = 0.03;*/ -// Event better -constexpr double KP = 4; -constexpr double KI = 5; +/* With KP = 10, about 12 periods of oscillation in 1sec +Pc = 0.083 + +PID Kp = 0.6Kc, Ti = 0.5Pc Td = 0.125Pc +Ki = KpTc/ti +Kd = KpTd/Tc +*/ + + +constexpr double KP = 6; +constexpr double KI = 0.2; constexpr double KD = 0.1; //double setpoint = -0.015; @@ -36,22 +40,18 @@ void setup(void) { pinMode(LED_BUILTIN, OUTPUT); digitalWrite(LED_BUILTIN, HIGH); - myController.begin(&input, &output, &setpoint, KP, KI, KD, P_ON_E, FORWARD); - myController.setOutputLimits(-0.72, 0.72); // double of max torque motors can exhert - myController.setWindUpLimits(-0.2, 0.02); - myController.setSampleTime(1); - myController.start(); - // Let the initial error from madgwick filter discharge without affecting the integral term of the PID unsigned long t = millis(); while (millis() - t < 3000) { - compute(); + update_imu(); } - move_pwm(MOT_SX, 0); - move_pwm(MOT_DX, 0); - myController.reset(); - delay(1000); + myController.begin(&input, &output, &setpoint, KP, KI, KD, P_ON_E, FORWARD); + myController.setOutputLimits(-0.72, 0.72); // double of max torque motors can exhert + // myController.setWindUpLimits(-0.2 , 0.02); + myController.setSampleTime(1); + myController.start(); + digitalWrite(LED_BUILTIN, LOW); } diff --git a/matlab-sim/self_balance_correct_measurementunits.mlx b/matlab-sim/self_balance_correct_measurementunits.mlx index 0372a41922fca07925bf2cf80b070bb618727619..b554b76eeddcc5f9dd52e7cd0c6f58695dc58d9e 100644 GIT binary patch delta 4298 zcmV;*5H;_`E$1+>#R3Y5{Ofdm0ssIV1(VML8-HDI+AtJ-_pi8%gi0ABi5VRuKviv; zw1-ZU);(2iWD)~W9XqoPlui5ZyLJLJRj2I%$3FMN=bn4<^zyM3u;tnmO3s3K5CyR|F$NwekkUCY{6@MfL znTIEthlrBg)`!TC2{cs=k5$oD=Q~hHu5H1{=Od49L!_tg>3IU3O0bNtmB_h9ua?j~ zaZkhHGasL{z?=dyC3D;j4olV 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