@@ -71,9 +71,13 @@ We implemented the new SejwayColor.java program based on the Sejway.java program
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@@ -71,9 +71,13 @@ We implemented the new SejwayColor.java program based on the Sejway.java program
In order to tune the new robot we tried to use the "Ziegler–Nichols Method" [8] again in order to get better constants. We first set the integral and the differential constants to 0 and tried to make a balancing robot with just a proportional control. After fiddling around with the values we found that a Kp value of 3.0 worked remarkably well and actually balanced the robot for a fairly long time. Trying to implement the Integral value as a PI-controller, we needed to calculate the KI-value. We measured the oscillation time to be around 0.25 s and we know from our data logger that the runtime of the internal control loop is 4ms. This gives us the following values:
In order to tune the new robot we tried to use the "Ziegler–Nichols Method" [8] again in order to get better constants. We first set the integral and the differential constants to 0 and tried to make a balancing robot with just a proportional control. After fiddling around with the values we found that a Kp value of 3.0 worked remarkably well and actually balanced the robot for a fairly long time. Trying to implement the Integral value as a PI-controller, we needed to calculate the KI-value. We measured the oscillation time to be around 0.25 s and we know from our data logger that the runtime of the internal control loop is 4ms. This gives us the following values:
dT = ca 4 ms
dT = ca 4 ms
Kc = 3.0.
Kc = 3.0.
Pc = ca 250 ms
Pc = ca 250 ms
Kp = 1.35
Kp = 1.35
Ki = 0.026
Ki = 0.026
We used these values to calculate the KI-value for our PI-controller using the formula KI=1.2K<sub>p</sub>dT/ P<sub>c</sub> = 0,026.
We used these values to calculate the KI-value for our PI-controller using the formula KI=1.2K<sub>p</sub>dT/ P<sub>c</sub> = 0,026.
