Quote:
Originally Posted by Oblarg
We ran a cascading P loop last year, and it worked beautifully. It's really not any extra work (or complexity) to run cascading control if you're already using velocity control for your drive - you just output to the existing PID controller instead of to the motors.
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Eli,
While your statement is true, we have found that simply putting a motion profile on your input will eliminate the need for cascading control.
To me, the motion profile (whichever you choose .. we use trapezoidal acceleration) is a more pure way to do it. We all know that if you give a step input to a motor it really doesn't behave that way so why not give it an input it really can perform.
We have found that motion profile + feedforward gain + PID work for all of our telemetry navigation needs, whether it be for driving or moving a ridiculously complicated arm.
Austin and his crew use state space, but I am too simplistic for all that awesomeness so I stick with profile + FF + PID.
Paul