EnergyControl - Revision history

Tobias at 13:19, 3 July 2015

2015-07-03T13:19:18Z

← Older revision		Revision as of 07:19, 3 July 2015
Line 1:		Line 1:
	Some more info [[http://paparazzi.github.com/docs/latest/energy__ctrl_8c.html#details\| Doxygen]]		Some more info [[http://paparazzi.github.com/docs/latest/energy__ctrl_8c.html#details\| Doxygen]]

			Total Energy (speed + height) control for fixed wing vehicles.
			An airspeed sensor is mandatory!



			implementation of guidance energy

			{{Box Code\|conf/airframes/myplane.xml\|
			<source lang="xml">
			<section name="VERTICAL CONTROL" prefix="V_CTL_">

			<define name="GLIDE_RATIO" value="8."/>
			<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
			<define name="MAX_ACCELERATION" value="0.5"/>
			<define name="THROTTLE_SLEW_LIMITER" value="1." unit="s"/>

			<define name="ALTITUDE_PGAIN" value="0.13"/>
			<define name="ALTITUDE_MAX_CLIMB" value="2."/> <!--default 2-->

			<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.3"/>
			<define name="AUTO_THROTTLE_NOMINAL_CRUISE_PITCH" value="0."/> <!-- default 0 -->

			<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
			<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15"/>

			<define name="AIRSPEED_PGAIN" value="0.6"/>

			<define name="AUTO_THROTTLE_OF_AIRSPEED_PGAIN" value="0.069"/>
			<define name="AUTO_THROTTLE_OF_AIRSPEED_IGAIN" value="0.01"/>

			<define name="AUTO_PITCH_OF_AIRSPEED_PGAIN" value="0.01"/>
			<define name="AUTO_PITCH_OF_AIRSPEED_IGAIN" value="0.003"/>
			<define name="AUTO_PITCH_OF_AIRSPEED_DGAIN" value="0.03"/>

			<define name="ENERGY_TOT_PGAIN" value="0.3"/>
			<define name="ENERGY_TOT_IGAIN" value="0.05"/>
			<define name="ENERGY_DIFF_PGAIN" value="0.4"/>
			<define name="ENERGY_DIFF_IGAIN" value="0.01"/>

			<define name="AUTO_GROUNDSPEED_SETPOINT" value="6.0" unit="m/s"/>
			<define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
			<define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>

			</section>
			</source>
			}}



			schematics for guidance energy. They represent only the main part for a better over view. Not included are any kind of safety functions.

			[[Image:Energycontrol.png\|Energy Control loop]]

Cdewagter at 12:21, 26 October 2012

2012-10-26T12:21:40Z

← Older revision		Revision as of 06:21, 26 October 2012
Line 29:		Line 29:

	A next possible step is to add a very small bit of '''I_th_air'''. This will slowly adapt the cruise throttle to get the correct average airspeed.		A next possible step is to add a very small bit of '''I_th_air'''. This will slowly adapt the cruise throttle to get the correct average airspeed.

			...

			incomplete ...

Cdewagter: Created page with "Some more info Doxygen == Very Quick I'm feeling Lucky Tuning Manual == Start with: === outerloop: =…"

2012-10-26T12:19:50Z

Created page with "Some more info Doxygen == Very Quick I'm feeling Lucky Tuning Manual == Start with: === outerloop: =…"

New page

Some more info [[http://paparazzi.github.com/docs/latest/energy__ctrl_8c.html#details| Doxygen]]

== Very Quick I'm feeling Lucky Tuning Manual ==

Start with:

=== outerloop: ===

* '''alt-pgain''' about 0.1
* '''speed-pgain''' about 0.2

=== innerloop: ===

* '''airspeed sp''' -> make sure it is OK
* '''cruise_throttle''' -> your preferred initial cruise throttle: 0.6 ? (this is overruled/adapted by the tot_en_i-gain)
* '''cruise pitch''' -> zero or your preferred initial cruise pitch (this is overruled/adapted by the dis_en_i-gain)

* '''P_en_tot''' -> 20% of slider
* '''I_en_tot''' -> 20% of slider
* '''P_en_dis''' -> 20% of slider
* '''I_en_dis''' -> 20% of slider

== More Step By Step ==

To allow nice step by step tuning with less risk, I recommend to start with the integrators set to zero.

If you do not thrust your airspeed or IMU you might even start with all '''en_tot''' en '''en_dis''' gains set to zero but with the '''throttle_incr''' gain set to about 0.1 and the '''pitch_of_vz''' set to also about 0.1 to turn it into a traditional old-style fixedwing outerloop (without airspeed).

A next possible step is to add a very small bit of '''I_th_air'''. This will slowly adapt the cruise throttle to get the correct average airspeed.