Re: [Paparazzi-devel] Any suggestion of improvement for PID tuning

[Eduardo lavratti]

Hi Heinrich, i searching for a good paper about backstapping a long time ago.
Can yoy send me this paper ?

regards.

> Date: Thu, 4 Sep 2014 08:33:55 +0200
> From: address@hidden
> To: address@hidden
> Subject: Re: [Paparazzi-devel] Any suggestion of improvement for PID tuning
>
> Hi,
> a more efficient system is backstapping, a model based system.
> If you want to integrate in paparazzi i can send you a paper of it.
> The basic idea is to use not a feedback control system for the
> stabilization.
> Instead the the rate signals are multiplied with a negative factor
> and the result is used for the generation of the basic signals trust,
> roll pitch and yaw.
> The stick signals are direct used the additionally.
> I can send you same papers of it.
> I wrote togehter with pione a paper. I use backstepping since six
> years for my one muticopter software. It works perfect and generate less
> vibrations.
> I think you need less than 30 lines of code to implement it in paparazzi.
> But it is difficult to find out where to change the code.
> Regads
>
> Heinrich
>
>
> Eltonwu schrieb:
>
> > Currently I try to tune the PID params of attitude more efficient.The
> >performance of the PID is not still satisfied.If I operate the stick gently.
> >the copter perform steady and no oscillation,but if I operate the stick
> >roughly,such as perform a brake suddenly when the copter speed is very high
> >speed. the copter oscillate very much about 500 ms and become steady.
> >
> > the following is the curves when flying . Can anyone give me some
> >suggestion to improve the PID?
> >
> >Thanks in advance
> >
> ><define name="PHI_PGAIN" value="135"/>
> ><define name="PHI_DGAIN" value="88"/>
> ><define name="PHI_IGAIN" value="80"/>
> ><define name="PHI_DDGAIN" value="120"/>
> ><http://lists.paparazziuav.org/file/n16076/1358880.png>
> ><http://lists.paparazziuav.org/file/n16076/ff_1358880.png>
> >
> ><define name="PHI_PGAIN" value="145"/>
> ><define name="PHI_DGAIN" value="88"/>
> ><define name="PHI_IGAIN" value="5"/>
> ><define name="PHI_DDGAIN" value="120"/>
> ><http://lists.paparazziuav.org/file/n16076/1458805.png>
> ><http://lists.paparazziuav.org/file/n16076/ff1458805.png>
> >
> >
> >
> >
> >--
> >View this message in context: http://lists.paparazziuav.org/Any-suggestion-of-improvement-for-PID-tuning-tp16076.html
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> >
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