Revision 33:4e5aca9f73e6, committed 2017-11-07

Comitter:

Gerber

Date:

Tue Nov 07 21:49:55 2017 +0000

Parent:

32:30a36362f23d

Commit message:

PID WAARDEN NAAR 4200 GESCHAALD UITGEREKEND.; NU HELEMAAL KLAAR.

Changed in this revision

--- a/main.cpp	Tue Nov 07 21:37:13 2017 +0000
+++ b/main.cpp	Tue Nov 07 21:49:55 2017 +0000
@@ -357,16 +357,17 @@
 }
 
 double FeedBackControl(double error, double &e_prev, double &e_int)   // PID controller motor 1
+// The values are not correctly tuned.
 {
-    double kp = 0.0008*4200;                               // kind of scaled.
+    double kp = 3.36;                           // kind of scaled.
     double Proportional= kp*error;
     
-    double kd = 0.0008*4200;                           // kind of scaled. 
+    double kd = 3.36;                           // kind of scaled. 
     double VelocityError = (error - e_prev)/Ts; 
     double Derivative = kd*VelocityError;
     e_prev = error;
     
-    double ki = 0.001*4200;                           // kind of scaled.
+    double ki = 4.2;                            // kind of scaled.
     e_int = e_int+Ts*error;
     double Integrator = ki*e_int;
     
@@ -375,16 +376,17 @@
 }
 
 double FeedBackControl2(double error2, double &e_prev2, double &e_int2)   // PID controller motor 2
+// The values are not correctly tuned.
 {
-    double kp2 = 0.0008*4200;                             // kind of scaled.
+    double kp2 = 3.36                           // kind of scaled.
     double Proportional2= kp2*error2;
     
-    double kd2 = 0.0008*4200;                           // kind of scaled. 
+    double kd2 = 3.36;                          // kind of scaled. 
     double VelocityError2 = (error2 - e_prev2)/Ts; 
     double Derivative2 = kd2*VelocityError2;
     e_prev2 = error2;
     
-    double ki2 = 0.00005*4200;                           // kind of scaled.
+    double ki2 = 2.1;                           // kind of scaled.
     e_int2 = e_int2+Ts*error2;
     double Integrator2 = ki2*e_int2;