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

[Prof. Dr.-Ing. Heinrich Warmers]

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> 
>
>
>
>
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