Quote:
Originally Posted by John
Yesterday I tried to implement the "bang-bang" controller in order to compare it to our PID loop. It seems our shooter does not have sufficient inertia to maintain a stable speed, as it oscillates uncontrollably.
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That doesn't sound right at all. Something is amiss.
Would you mind posting the following additional information please:
- what motor(s)
- total gear ratio from motor to wheel.
- Jag or Vic?
- coast or brake mode?
- voltage ramp rate?
- what encoder model, and where mounted
- what language
- 1x 2x or 4x decoding?
- Counter or Encoder class?
- to measure RPM, are you measuring the time between consecutive counts, or are you dividing the counts by the delta time?
- if dividing counts by delta time (see above item), how are you computing the delta time
- what execution cycle update rate?
- what wheel rpm value were you trying to control
- please elaborate a bit more on the nature of the oscillations: amplitude, frequency, etc