Cascade pid loop problem-CodePudding

Good bosses, recently in the anonymous flight control procedures, using cascade pid control, the outer ring: Angle of input and output: angular velocity, the inner ring input angular velocity, output PWM wave, for here the outer ring of the output in particular, I don't understand, how even the unit changed? Such as make a single-stage pid temperature control, input and output must have is temperature, dimension will be changed? Online information looked nor can enlighten me, personally, I think this should add a differential link between the internal and external loop controller, this Angle differential is the angular velocity of ah...

I found a picture, you can see,

CodePudding user response:

0.000000

CodePudding user response:

You can understand it, according to the expected Angle and measured current Angle to calculate the desired angular velocity, angular velocity and angular velocity of the current expectations to calculate the desired PWM drive axles, complete the feedback, the two feedback loops input parameters is a point of view, a is the angular velocity,

CodePudding user response:

refer to the second floor xuyaqi029 response:

you can understand it, according to the expected Angle and measured current Angle to calculate the desired angular velocity, angular velocity and angular velocity of the current expectations to calculate the desired PWM drive axles, complete the feedback, the two feedback loops input parameters is a point of view, a is the angular velocity,

The expectation of PWM how that of the output angular velocity and angular velocity loop?

CodePudding user response:

In the location of the PWMx4 is output PWM wave to the motor

CodePudding user response:

Outer ring is the output angular velocity expectations, deviation Angle, outer ring output deviation, output value of the inner ring is outside the ring do expectations, so can achieve fast response and control to achieve the effect of very hard

CodePudding user response:

reference ABCD18282 reply: 3/f

Quote: refer to the second floor xuyaqi029 response:
you can understand it, according to the expected Angle and measured current Angle to calculate the desired angular velocity, angular velocity and angular velocity of the current expectations to calculate the desired PWM drive axles, complete the feedback, the two feedback loops input parameters is a point of view, a is the angular velocity,

The expectation of PWM how that of the output angular velocity and angular velocity loop?

This involved PWM and the physical relationship between the output angular velocity, to do some experiments to get,

CodePudding user response:

refer to 6th floor xuyaqi029 response:

Quote: refer to the third floor ABCD18282 response:

Quote: refer to the second floor xuyaqi029 response:
you can understand it, according to the expected Angle and measured current Angle to calculate the desired angular velocity, angular velocity and angular velocity of the current expectations to calculate the desired PWM drive axles, complete the feedback, the two feedback loops input parameters is a point of view, a is the angular velocity,

The expectation of PWM how that of the output angular velocity and angular velocity loop?

This involved PWM and physical relationship between the output angular velocity, to do some experiments to get,

Don't need to know the physical relationship, as long as the appropriate adjustment of K, I, D parameters can be (D parameters generally 0)

CodePudding user response:

refer to 7th floor worldy response:

Quote: refer to the sixth floor xuyaqi029 response:

Quote: refer to the third floor ABCD18282 response:

Quote: refer to the second floor xuyaqi029 response:
you can understand it, according to the expected Angle and measured current Angle to calculate the desired angular velocity, angular velocity and angular velocity of the current expectations to calculate the desired PWM drive axles, complete the feedback, the two feedback loops input parameters is a point of view, a is the angular velocity,

The expectation of PWM how that of the output angular velocity and angular velocity loop?

This involved PWM and physical relationship between the output angular velocity, to do some experiments to get,

Don't need to know the physical relationship, as long as the appropriate adjustment of K, I, D parameters can be (D parameters generally 0)

K, I, D parameters are entered by the user, you don't know when programming algorithm, so the program algorithm is obtained by physical experiment,

CodePudding user response:

refer to the eighth floor xuyaqi029 response:

Quote: refer to 7th floor worldy response:

Quote: refer to the sixth floor xuyaqi029 response:

Quote: refer to the third floor ABCD18282 response:

Quote: refer to the second floor xuyaqi029 response:
you can understand it, according to the expected Angle and measured current Angle to calculate the desired angular velocity, angular velocity and angular velocity of the current expectations to calculate the desired PWM drive axles, complete the feedback, the two feedback loops input parameters is a point of view, a is the angular velocity,

The expectation of PWM how that of the output angular velocity and angular velocity loop?

This involved PWM and physical relationship between the output angular velocity, to do some experiments to get,

Don't need to know the physical relationship, as long as the appropriate adjustment of K, I, D parameters can be (D parameters generally 0)

K, I, D parameters are entered by the user, you don't know when programming algorithm, so the program algorithm is obtained by physical experiment,

Programming also don't need to know, you carefully studies the model of the algorithm

CodePudding user response:

references 9 f worldy response:

Quote: refer to the eighth floor xuyaqi029 response:

Quote: refer to 7th floor worldy response:

Quote: refer to the sixth floor xuyaqi029 response:

Quote: refer to the third floor ABCD18282 response:

Quote: refer to the second floor xuyaqi029 response:
you can understand it, according to the expected Angle and measured current Angle to calculate the desired angular velocity, angular velocity and angular velocity of the current expectations to calculate the desired PWM drive axles, complete the feedback, the two feedback loops input parameters is a point of view, a is the angular velocity,

The expectation of PWM how that of the output angular velocity and angular velocity loop?

This involved PWM and physical relationship between the output angular velocity, to do some experiments to get,

Don't need to know the physical relationship, as long as the appropriate adjustment of K, I, D parameters can be (D parameters generally 0)

K, I, D parameters are entered by the user, you don't know when programming algorithm, so the program algorithm is obtained by physical experiment,

Programming also don't need to know, you have to carefully study the algorithm model is

Problems is how to get your algorithm model, such as angular velocity change a unit, PWM should become much how do you get,

CodePudding user response:

+
Daim - & gt; (the SUM) - & gt; E -- -- -- -- -- -- -- -- -- -- - Ke - & gt; The SUM - & gt; PWM - & gt; Motor
_ ^ | ^ |
| | ______Se -- -- -- -- -- -- -- -- -- - | |
| | ^ |
| | ______de _______ | |
| |
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