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Re: [Paparazzi-devel] Tiltrotor-Project
From: |
notoriou5 |
Subject: |
Re: [Paparazzi-devel] Tiltrotor-Project |
Date: |
Wed, 22 Jun 2016 23:16:52 -0700 (MST) |
Here are my current PID- and reference-values:
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="400." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<define name="PHI_PGAIN" value="3800"/>
<define name="PHI_DGAIN" value="400"/>
<define name="PHI_IGAIN" value="250"/>
<define name="THETA_PGAIN" value="3800"/>
<define name="THETA_DGAIN" value="450"/>
<define name="THETA_IGAIN" value="250"/>
<define name="PSI_PGAIN" value="500"/>
<define name="PSI_DGAIN" value="300"/>
<define name="PSI_IGAIN" value="20"/>
<define name="PHI_DDGAIN" value="300"/>
<define name="THETA_DDGAIN" value="300"/>
<define name="PSI_DDGAIN" value="300"/>
</section>
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
And here is the output of the attitude in the real-time plotter:
<http://lists.paparazziuav.org/file/n18096/ATTITUDE-Graphs__23.png>
I tried to adjust the PID values but it is really hard to do. I know how PID
works, but it does not really seem to do what I want. I can not get rid of
those spikes in my graphs. Maybe I asdjust the lowpassfilter in the
reference values?
Thanks a lot, Kevin
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