I hope, this description is not to long, but I think it is very
important to have a working controller code
First the test results, at the end you will find the test decription for
the test controller and a little nasal script for logging.
o Behaviour with delta_u_n = 0 and an input jump function of 0.2 No
saturation at the beginning.
Time, reference,input,output
21:59:17,0,0,0
21:59:18,0,0,0
21:59:19,0,0.2,0.2008333333333333 Here I changed the input value
from 0 to 0.2 and we see the proportionel gain of -1 (P-part)
21:59:20,0,0.2,0.2211666666666665 Here the integrator part is added.
21:59:21,0,0.2,0.2414999999999997
21:59:22,0,0.2,0.2618333333333332
21:59:23,0,0.2,0.2820000000000002
21:59:24,0,0.2,0.3025000000000005
21:59:25,0,0.2,0.3228333333333342
21:59:26,0,0.2,0.3428333333333345
21:59:27,0,0.2,0.3631666666666682
21:59:28,0,0.2,0.3835000000000018
21:59:29,0,0.2,0.4038333333333355
21:59:30,0,0.2,0.4243333333333358
21:59:31,0,0.2,0.4446666666666694
21:59:32,0,0.2,0.4650000000000031
21:59:33,0,0.2,0.4853333333333367
21:59:34,0,0.2,0.4995000000000036 Here the windup logic limits the
output value to 0.5
21:59:35,0,0.2,0.4995000000000036
21:59:36,0,0.2,0.4995000000000036
21:59:37,0,0.2,0.4995000000000036
21:59:38,0,0.2,0.4995000000000036
21:59:39,0,0.2,0.4995000000000036
21:59:40,0,0.2,0.4995000000000036
21:59:41,0,0.2,0.4995000000000036
21:59:42,0,0.2,0.4995000000000036
21:59:43,0,0.2,0.4995000000000036
21:59:44,0,0.2,0.4995000000000036
21:59:45,0,0.2,0.4995000000000036
Everything is fine !!!!!!!!!
Behaviour with delta_u_n = 0 and an input jump function of 0.6
Saturation at the beginning
o Time, reference,input,output
21:56:54,0,0,0
21:56:55,0,0,0
21:56:56,0,0,0
21:56:57,0,0,0
21:56:58,0,0,0
21:56:59,0,0.6,0.02549999999999999 Here the P-part is missing There
has to be a jump to u_max
21:57:00,0,0.6,0.08800000000000003
21:57:01,0,0.6,0.1505000000000001
21:57:02,0,0.6,0.2130000000000001
21:57:03,0,0.6,0.2730000000000002
21:57:04,0,0.6,0.3335000000000002
21:57:05,0,0.6,0.3935000000000003
21:57:06,0,0.6,0.4530000000000003
21:57:07,0,0.6,0.4995000000000004
Kind regards
Hans-Georg
P.S.: The test result for delta_u_n = u_max - U
Test controller:
<pid-controller>
<name>Test controller</name>
<debug>false</debug>
<enable>
<prop>/autopilot/test/status</prop>
<value>go</value>
</enable>
<input>
<prop>/autopilot/test/input</prop>
</input>
<reference>
<prop>/autopilot/test/reference</prop>
</reference>
<output>
<prop>/autopilot/test/output</prop>
</output>
<config>
<Kp>-1</Kp> <!-- proportional gain -->
<beta>1</beta> <!-- input value weighing factor -->
<alpha>1</alpha> <!-- low pass filter weighing factor -->
<gamma>0.0</gamma> <!-- input value weighing factor for -->
<!-- unfiltered
derivative error -->
<Ti>1</Ti> <!-- integrator time -->
<Td>0</Td> <!-- derivator time -->
<u_min>-0.5</u_min> <!-- minimum output clamp -->
<u_max>0.5</u_max> <!-- maximum output clamp -->
</config>
</pid-controller>
For logging puposes I wrote a little nasal script:
#
# Function to log
#
print_test = func {
ref_log = getprop("/autopilot/test/reference");
input_log = getprop("/autopilot/test/input");
output_log = getprop("/autopilot/test/output");
time_log = getprop("/sim/time/gmt-string");
print(time_log,",",ref_log,",", input_log,",",output_log);
# Re-schedule the next call
if(getprop("/autopilot/test/status") != "go") {
print("Log disabled");
} else {
# print("Set timer");
settimer(print_test,1);
}
}
Kind regards
Hans-Georg
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