Aasimon.org Wiki

User Tools

Site Tools

Trace:
marvin:ecp2

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revisionPrevious revision
marvin:ecp2 [2009/01/29 10:50] – riepermarvin:ecp2 [2009/01/29 11:02] (current) – rieper
Line 160: Line 160:
 The methods that can be used range from no knowledge of the system to a full simulation of the system that can be used to calculate stability and set the exact parameters of the PID controller for optimum performance. One thing to note before talking about parameter tuning is the difference between online tuning and offline tuning. Online tuning means tuning when the system is running. That means one adjust parameters while the system is running. Offline tuning means take the control out of the plant, adjust the parameters and then re-engage the system. It is the later method we have used. The robot have been stopped, the parameters have en adjusted in the software, and lastly new firmware have been uploaded. Online tuning could have been used with a Bluetooth link between the robot and a PC from where new parameters could be uploaded on the fly. The methods that can be used range from no knowledge of the system to a full simulation of the system that can be used to calculate stability and set the exact parameters of the PID controller for optimum performance. One thing to note before talking about parameter tuning is the difference between online tuning and offline tuning. Online tuning means tuning when the system is running. That means one adjust parameters while the system is running. Offline tuning means take the control out of the plant, adjust the parameters and then re-engage the system. It is the later method we have used. The robot have been stopped, the parameters have en adjusted in the software, and lastly new firmware have been uploaded. Online tuning could have been used with a Bluetooth link between the robot and a PC from where new parameters could be uploaded on the fly.
  
-=== Manual tuning ===+=== Manual Tuning ===
  This is a trial and error approach. You do not need to have any idea about the plant. The procedure is as follows:   This is a trial and error approach. You do not need to have any idea about the plant. The procedure is as follows: 
   * Set I and D values to zero   * Set I and D values to zero
Line 187: Line 187:
 There exist different kinds of tuning software. One of these could be (([[http://www.mathworks.com|MatLab]])). These software based solutions require a mathematical approach. In order to do this it is necessary to have a mathematical model of the plant to be controlled. The procedure induces an impulse into the system and then uses the controlled systems frequency response to design the PID parameters. There exist different kinds of tuning software. One of these could be (([[http://www.mathworks.com|MatLab]])). These software based solutions require a mathematical approach. In order to do this it is necessary to have a mathematical model of the plant to be controlled. The procedure induces an impulse into the system and then uses the controlled systems frequency response to design the PID parameters.
  
-=== Summarize of approaches ===+=== Summarize of Approaches ===
 The three different approaches can be seen from the table below. In that table the advantages an disadvantages can me seen together with what knowledge is required.  The three different approaches can be seen from the table below. In that table the advantages an disadvantages can me seen together with what knowledge is required. 
 ^ Method ^ Advantages ^ Disadvantage ^ Requirements ^ ^ Method ^ Advantages ^ Disadvantage ^ Requirements ^
Line 240: Line 240:
  
   public void run()   public void run()
 +
   {   {
     MotorControl motors = new MotorControl(Motor.C, Motor.B);     MotorControl motors = new MotorControl(Motor.C, Motor.B);
marvin/ecp2.1233222610.txt.gz · Last modified: 2009/01/29 10:50 by rieper