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Re: [Paparazzi-devel] Suggestions: Auto-tuning of gains and upload via

From: Eric Parsonage
Subject: Re: [Paparazzi-devel] Suggestions: Auto-tuning of gains and upload via modems
Date: Sat, 19 Jun 2010 18:04:08 +0930

Hi Maik, Florin,

I would suggest that ZN tuning would not be that effective, This is due to the fact that the ZN algorithms were empirically derived from work with process systems which all exhibited a particular response (time delay, big phase lag, integrator racking up error to a step input). Perhaps a more sensitivity driven algorithm, like kappa-tau, or pole placement, would be more effective since aircraft tend to act a lot more like a servomotor-style system than a phase-laggy process one.


On 19 June 2010 17:54, Florin Mingireanu <address@hidden> wrote:
Hi Maik,

The method I tried to describe is called Ziegler-Nichols.

On Sat, Jun 19, 2010 at 11:20 AM, Florin Mingireanu <address@hidden> wrote:
Hi Maik,

As far as I know, tuning P and I-gains is like:

increase P value until you detect instability (oscillation as you said) and then decrease P to half and start to increase I until sufficient stability is obtained.

If, additionally, you have a D term (d-gain) then you apply recursively this algorithm for subsequent I and D.

So tuning gains for a new aircraft is more like a cascaded algorithm.


On Sat, Jun 19, 2010 at 10:12 AM, Maik Höpfel <address@hidden> wrote:
Hello dear community,

I recently added two features I would like to see to the Software
Wishlist in the Wiki, but did not get any feedback. So I'd like to
present them on the list as well:

1) Auto-tuning of gains: as far as I see it, the rules for setting the
P-gains on a new aircraft are pretty easy: "turn it up till it
oscillates, turn down a little". Now given sufficient height and a bit
of trust in the airframe, this should easily be doable by an algorithm
instead of the crew on the ground, shouldn't it? Oscillation can be
detected via the IR sensors/IMU... I imagine it like a special flight
plan block that then sets the correct gains.

2) Flashing via modems: Couldn't the boot loader wait for a special
sequence from the modems before starting up the Paparazzi code? And
then the GCS just sends that special message and the firmware that is
to be flashed? Should be error-checked, of course. But it's possible,

I'm really looking forward to your thoughts! I think both things would
make Paparazzi even easier to use for beginners.


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