Quote:
Originally Posted by gpetilli
I applaud what you are trying to do - as an engineer, I strongly dislike the guess and check method. I downloaded your files, but am getting a "bad link" error in simulink for the PID Controller. I am using version 2008b will all toolboxes loaded. Also, your Matlab model appears to be setup for position, any intent to upgrade for speed mode?
I took a different path to a closed form solution. I am using Team 1640 - Sab-BOT-age Drivetrain Model to predict the step responce for various drive trains, using Astrom's (less overshoot than Ziegler-Nichols) equations to calculate P-I-D then as Either said - loading the calculated D into Jag P, calculated P into Jag I and 0 into Jag D. We are getting reasonable performance on the testbot. We intend to poll the Jaguars for step response data using voltage and PID control and compare results but things always take longer than you expect. This was all done with Excel spreadsheets - which i can share if you like.
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Thank you for the support... I don't know if you were able to check out the video but one of the pre-reqs is matlab/simulink version 2009A or greater. The reason you are getting a bad link is because you are using simulink 2008. That particular PID block is only available with the 2009 and greater version of the control system toolbox.
I was going to do another tutorial for users with older versions of simulink/matlab but I thought it would be fruitless because First teams can get free licenses for new mathwork software by contacting mathworks from this link:
http://www.mathworks.com/academia/st...irst-robotics/
I'd really recommend getting a new license so you can use the method I demonstrate but If youd like to use 2008, there is another tool you can use, but it is not as simple and not as easy to understand.
In matlab 2008 type
sisotool in the command line. A gui will show up if you have the control system tool box installed... you can use this gui to tune your controller, provided that you set it up correctly. Check the Mathwork help files on this tool.. it will be a great start.
-Kevin