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rocker balancer [PID]

Image:
screenshot of the scene

Author: ukuru.gejacoya

Group: Default

Filesize: 120.57 kB

Date added: 2014-06-18

Rating: 6.1

Downloads: 2460

Views: 250

Comments: 3

Ratings: 3

Times favored: 0

Made with: Algodoo v2.1.0

Tags:
scripted,
pid controller,
balance

Scene tag

PID-controlled rocker balancer v.1.2

changelog:
1.1: set integral coefficient to zero by default [thanks for a tip, Xray!]
1.2: limit suspension travel

controls:
left arrow: drive left
right arrow: drive right
down: brake
0: toggle PID controller on/off

if you're into control theory, try tuning the coefficients:
scene.my.k - overall multiplier (useful when changing the gear size)
scene.my.kp - proportional
scene.my.kd - derivative
scene.my.kd2 - second derivative (this balancer can't be stabilized using only 1st)
scene.my.ki - integral (not really needed in this case)
Last edited at 2014/06/18 12:07:06 by ukuru.gejacoya
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A brilliant piece of work! :tup:

Just curious.... Is the integral term necessary in this type of fast-acting, non-precise control scheme? I've seen integral used in precision temperature controllers where precise and accurate control of the temperature were critical, and I've seen it used in motion controllers where extremely tight position control was crucial to the application, but I suspect that integral is not needed here, and in fact it might just over-complicate the control system.

Thoughts?
Thank you, Xray! :*)

You're totally right, in fact, without the I-part the system settles to zero even faster! It's just my generic snippet of thyme that I copy/paste to all my PID projects - but I never thought of making it PD (PDD' in this case):bonk:

I think I'd leave the I-part but set ki to zero by default, not a great deal of calculation, anyway.

your comments are always appreciated, Xray!
my best regards :)
Thanks for your kind words. :) I enjoy your "high tech" scenes, and that's why I subscribed to you a few months ago. I also subscribe to other creators of high tech scenes (such as kilinich and s_noonan) who are also very talented engineers. I've learned a lot from them over the past couple of years, and I just eat that stuff up! :lol:
Last edited at 2014/06/18 16:32:37 by Xray