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Re: paper: Shooter Wheel Speed Control
Quote:
Originally Posted by Ether
I'm not a LabVIEW guru, so I can't say for sure, but I think you've captured the main idea. I do have one suggestion though: read Team 358's document Timing Is Everything. For a clean speed signal, consider replacing that Wait with a Timed Structure.
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Ether,
Wow, THANK YOU! I am no LabView Guru either so I had no idea there was that much variation in the timing of "Wait" loops. It definitely explains much of the noise issues we saw this year while measuring our shooters rate.
So, based on the paper from 358 linked above, I modified my LabView version of the Bang-Bang control to use "Timed Structure".
It has been refined to allow the enabling of a positive, adjustable, slew rate limiter. The limiter will maintain the same slew rate limit even if the loop timing is modified. It also has a tuneable IIR filter for the RPM reading, if necessary.
This thread will not allow me to attach the files, so you can get them here.
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CalGames 2009 Autonomous Champion Award winner
Sacramento 2010 Creativity in Design winner, Sacramento 2010 Quarter finalist
2011 Sacramento Finalist, 2011 Madtown Engineering Inspiration Award.
2012 Sacramento Semi-Finals, 2012 Sacramento Innovation in Control Award, 2012 SVR Judges Award.
2012 CalGames Autonomous Challenge Award winner ($$$).
2014 2X Rockwell Automation: Innovation in Control Award (CVR and SAC). Curie Division Gracious Professionalism Award.
2014 Capital City Classic Winner AND Runner Up. Madtown Throwdown: Runner up.
2015 Innovation in Control Award, Sacramento.
2016 Chezy Champs Finalist, 2016 MTTD Finalist
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