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Re: [Paparazzi-devel] Energy Control Loops Configuration and Gains

From: Chris
Subject: Re: [Paparazzi-devel] Energy Control Loops Configuration and Gains
Date: Wed, 19 Dec 2012 23:01:58 +0200
User-agent: Mozilla/5.0 (X11; Linux i686; rv:17.0) Gecko/17.0 Thunderbird/17.0

Christophe here is what i came up with, can you have a look and reccomend?

<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- The below definition affect the throttle percentage shown on the GCS. -->
    <define name="POWER_CTL_BAT_NOMINAL" value="14.8" unit="volt"/>
    <!-- outer loop proportional gain -->
    <define name="ALTITUDE_PGAIN" value="0.06" unit="(m/s)/m"/>
    <!-- outer loop saturation -->
    <define name="ALTITUDE_MAX_CLIMB" value="3" unit="m/s"/>
    <!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40" unit="%"/> <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.30" unit="%"/> <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.50" unit="%"/> <define name="AUTO_THROTTLE_CRUISE_THROTTLE_TRIM_STEP" value="0.01" unit="%/s"/> <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/> <define name="AUTO_THROTTLE_NOMINAL_CRUISE_PITCH" value="0.0" unit="rad"/>
    <!-- magnitude of elevator movement on altitude change -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15" unit="rad/(m/s)"/> <!-- 0.05 -->
    <define name="THROTTLE_SLEW_LIMITER"             value="1" unit="s"/>
    <define name="AUTO_THROTTLE_OF_AIRSPEED_PGAIN" value="0" />
    <define name="AUTO_THROTTLE_OF_AIRSPEED_IGAIN" value="0" />
    <define name="AUTO_PITCH_OF_AIRSPEED_PGAIN" value="0" />
    <define name="AUTO_PITCH_OF_AIRSPEED_IGAIN" value="0" />
    <define name="AUTO_PITCH_OF_AIRSPEED_DGAIN" value="0" />
    <define name="ENERGY_TOT_PGAIN"                value="0.35" />
    <define name="ENERGY_TOT_IGAIN"                value="0.25" />
    <define name="ENERGY_DIFF_PGAIN"            value="0.30" />
    <define name="ENERGY_DIFF_IGAIN"            value="0.20" />
    <define name="DESIRED_ACCELERATION"            value="0.3" />
    <define name="MAX_ACCELERATION"                value="0.3" />
<define name="AUTO_GROUNDSPEED_SETPOINT" value="15." unit="m/s"/>
    <define name="AUTO_GROUNDSPEED_PGAIN" value="0."/>
    <define name="AUTO_GROUNDSPEED_IGAIN" value="0"/>

On 12/19/2012 07:00 PM, address@hidden wrote:
I believe (by heart) that we had something like 35% slider P-tot, 25%
I-tot, 30% P-diff and 20% I-diff.

Do not forget the outerloops: max forward acceleration 0.5g and alt-gain
and speed gain both about 0.1 (maybe 0.2 later on)

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