Quote:
Originally Posted by Ether
Were you thinking of trying a bang-bang controller, or perhaps a take-back-half?
|
We haven't decided exactly yet. Haven't hooked the encoder backup since we stopped using it in competition, so that's the first step along with verifying that it works.
I had thought of a bang-bang approach where we base the original voltage on motor curves, then if the speed drops X% below the target speed, raise the voltage by Y%, or if the speed exceeds the target by X%, lower the voltage by Y%. X would be the max allowable deviation from the target speed and Y would be an experimentally determined voltage correction. If its between 100-X % and 100+X %, we would apply no voltage correction.
I'd also like to see what the students come up with. After reading about take back half control here:
http://www.edn.com/design/analog/432...ence-algorithm
that seems like a good option. It looks like a good opportunity to explore different speed control options so we may try multiple approaches to see what gives us the best results (at least that's what I would like to see).