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Advanced autopilot tuning tips: Difference between revisions
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Advanced autopilot tuning tips (view source)
Revision as of 20:45, 30 November 2010
, 30 November 2010Robot: Cosmetic changes
m (copy/paste editing (verbatim copy from mailing list discussion) http://www.mail-archive.com/flightgear-devel@lists.sourceforge.net/msg25859.html) |
m (Robot: Cosmetic changes) |
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iteration the controller sees an error but has no 'trend history' | iteration the controller sees an error but has no 'trend history' | ||
to know how effective its correction is, and so may command the max | to know how effective its correction is, and so may command the max | ||
correction. | correction. As the aircraft responds to the initial correction | ||
though, the controller gets feedback upon which it then gauges the | though, the controller gets feedback upon which it then gauges the | ||
correction for the next iteration. | correction for the next iteration. | ||
| Line 49: | Line 49: | ||
airspeeds you might need the Pitch-hold controller to be pretty | airspeeds you might need the Pitch-hold controller to be pretty | ||
brutal and almost driving into oscillation but at high speeds you | brutal and almost driving into oscillation but at high speeds you | ||
need it to be much more delicate. | need it to be much more delicate. However, judicious use of | ||
filters and variable gains can usually get you around most | filters and variable gains can usually get you around most | ||
problems. | problems. | ||
| Line 58: | Line 58: | ||
initially worked, I think it may have become broken at some point | initially worked, I think it may have become broken at some point | ||
and the rate at which the controllers and filters operate depends | and the rate at which the controllers and filters operate depends | ||
more upon the frame rate than anything else. | more upon the frame rate than anything else. Because the rate at | ||
which the controllers work is critical, depending upon the gains | which the controllers work is critical, depending upon the gains | ||
used, a controller that might be stable on one system might become | used, a controller that might be stable on one system might become | ||
unstable on a slower, or even sometimes a faster system (I've seen | unstable on a slower, or even sometimes a faster system (I've seen | ||
this sort of problems happen both ways). | this sort of problems happen both ways). | ||