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

From: Prof. Dr.-Ing. Heinrich Warmers
Subject: Re: [Paparazzi-devel] Any suggestion of improvement for PID tuning
Date: Thu, 04 Sep 2014 08:33:55 +0200
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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


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"/>
<> <>
<define name="PHI_PGAIN"  value="145"/>
<define name="PHI_DGAIN"  value="88"/>
<define name="PHI_IGAIN"  value="5"/>
<define name="PHI_DDGAIN"   value="120"/>
<> <>

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