@@ -78,7 +78,7 @@ In order to avoid a bang-bang control mechanism the two motors are applied a sta
...
@@ -78,7 +78,7 @@ In order to avoid a bang-bang control mechanism the two motors are applied a sta
The control algorithm is wrapped in an LeJOS NXT application that is able to communicate with a PC running a LeJOS GUI application letting us choose values for `kp`,`ki`,`kd` and `Tp` remotely. Due to the complexity of the physical world many factors affect the controlling of the Lego car and it is therefore beneficial to modify control parameters on the fly.
The control algorithm is wrapped in an LeJOS NXT application that is able to communicate with a PC running a LeJOS GUI application letting us choose values for `kp`,`ki`,`kd` and `Tp` remotely. Due to the complexity of the physical world many factors affect the controlling of the Lego car and it is therefore beneficial to modify control parameters on the fly.
By repeatly tuning the paramters we ended up with the optimal setting of:
⋅⋅⋅By repeatly tuning the paramters we ended up with the optimal setting of:
