Quote:
Originally Posted by vamfun
Funny, I always though it was the other way around. The Z-N methods were ment for guys that didn't understand control theory. The cookbook method was a way a plant manager could get his plant under control if he was unable to model the dynamics and apply control theory. The PID is a similar device.
Anyway, I took a look at your video and code. You did a great job and I wish our team had the capability. We are using C++ and I have longed for that data/plotting capability to tune the PID loops. I know teams like 254 have used a similar data loging scheme that reads the data bus and plots it using a custom LV GUI. Have you done any of this with C++ or can you offer some suggestions on the best way to set PID constants on the DS , send them to the robot and retrieve the sensor data and display it.
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This year for our team we used Java... and with the help of the SmartDashbaord I have created a GUI for PID tuning that I used on our 2012 bot. Since We were running our own custom PID controllers on the CRIO this was very helpful.
So while I haven't done it with C++ per se, the code in java and the smartdashboard can help you get similar functionality.
I also worked on a new tutorial for tuning gains, using Matlab and Simulink, in order to get a more accurate controller. The method of tuning is the same as in my original video, but the method for modeling is different.
In the previous videos modeling of the plant was done using parameters provided by the datasheets of the motor and physical modeling techniques. However, there is always error between the model and the apparatus because of parameter mismatch.
The new method is based on taking measured data by running the actual system and logging to the file its performance to a step response, and using that data in matlab to perform parameter estimation. The estimated system is a far better realization of the plant model and allows for a more accurate controller design the first time around.
I am trying to find the time to post all this stuff, its just been hard. - My apologies