Author Topic: Mixing PID loops  (Read 376 times)

Offline Patrick

  • High Voltage Enthusiast
  • *
  • Posts: 40
  • Karma: +0/-0
  • Mechatronics Technician, A.S.
    • View Profile
Mixing PID loops
« on: January 24, 2022, 07:28:01 AM »
Id like to control pitch and yaw using PID loops but I dont know how to "blend" them for common control surfaces. The plane ill be using has two "tailerons" both responsible for pitch and yaw seen  in the following attachment.

Can it be as simple as running two independent PID loops, then linearizing the two results in micro controller memory and output to each motor by using percentages of physical travel?
If its too bright just squint more.

Offline TMaxElectronics

  • High Voltage Engineer
  • ****
  • Posts: 233
  • Karma: +14/-0
    • View Profile
    • My random (and very empty) electronics blog
Re: Mixing PID loops
« Reply #1 on: January 24, 2022, 12:00:50 PM »
I guess you could just add the two output results together, but you'll have to make sure the system is stable and the two loops don't throw each other off.
Calculating that hard enough for me when using simple motors with intertia and a single PID, having two PIDs and control surfaces will be even harder I assume.

Offline Twospoons

  • High Voltage Technician
  • ***
  • Posts: 140
  • Karma: +2/-0
    • View Profile
Re: Mixing PID loops
« Reply #2 on: January 25, 2022, 09:50:41 PM »
I agree with TMaxElectronics: just add the resulting actuator signals.  A properly tuned PID should be robust enough to deal with any funnies.  I would be inclined to make one of the PID loops slower than the other though - I have no math to back this up, just a gut feeling that its going to be more stable that way.

Offline Patrick

  • High Voltage Enthusiast
  • *
  • Posts: 40
  • Karma: +0/-0
  • Mechatronics Technician, A.S.
    • View Profile
Re: Mixing PID loops
« Reply #3 on: January 26, 2022, 04:14:02 AM »
Ok Im thinking of adding and subtracting for direction then multiplying by less than 1.0 for scaling the actual throw. One website for 2.4.8 Ardupilot seems to suggest a v-tail command that does this by means means of :

( https://ardupilot.org/plane/docs/guide-vtail-plane.html )

"Mixing Gain:

The MIXING_GAIN parameter is critical for vtail aircraft. It is the gain used in mixing between yaw and pitch output and the vtail movement. For example, if MIXING_GAIN is 0.5, then the following outputs are used:

    LEFT_VTAIL = (yaw+pitch)*0.5
    RIGHT_VTAIL = (-yaw+pitch)*0.5

Adjusting the MIXING_GAIN controls the percentabe of throws from pitch vs yaw."


And pics of the real one and myself, and yes it's huge !
« Last Edit: January 26, 2022, 04:16:08 AM by Patrick »
If its too bright just squint more.

High Voltage Forum

Re: Mixing PID loops
« Reply #3 on: January 26, 2022, 04:14:02 AM »

 


* Recent Topics and Posts

post Hamilton drills model1206
[Induction Launchers, Coil Guns and Rails guns]
Range4Harry
May 16, 2022, 11:25:14 PM
post Re: Driving the primary with other than 60Hz
[Spark Gap Tesla Coils (SGTC)]
Robert3z
May 16, 2022, 02:21:11 PM
post Re: ZVS driver based DRSSTC with pictures and details - Student project
[Dual Resonant Solid State Tesla coils (DRSSTC)]
CwhyteKGMS
May 16, 2022, 07:29:15 AM
post Re: ZVS driver based DRSSTC with pictures and details - Student project
[Dual Resonant Solid State Tesla coils (DRSSTC)]
davekni
May 16, 2022, 04:53:18 AM
post Re: Driving the primary with other than 60Hz
[Spark Gap Tesla Coils (SGTC)]
davekni
May 16, 2022, 04:36:44 AM
post ZVS driver based DRSSTC with pictures and details - Student project
[Dual Resonant Solid State Tesla coils (DRSSTC)]
CwhyteKGMS
May 16, 2022, 03:53:48 AM
post Re: Driving the primary with other than 60Hz
[Spark Gap Tesla Coils (SGTC)]
Robert3z
May 16, 2022, 02:20:58 AM
post Re: Problem with SSTC
[Solid State Tesla Coils (SSTC)]
davekni
May 15, 2022, 11:59:37 PM
post Re: Problem with SSTC
[Solid State Tesla Coils (SSTC)]
Nunu00
May 15, 2022, 11:08:49 PM
post Re: Problem with SSTC
[Solid State Tesla Coils (SSTC)]
davekni
May 15, 2022, 09:43:07 PM
post Re: Kaizer DRSSTC 3
[Dual Resonant Solid State Tesla coils (DRSSTC)]
Mads Barnkob
May 15, 2022, 08:22:11 PM
post Re: Problem with SSTC
[Solid State Tesla Coils (SSTC)]
Nunu00
May 15, 2022, 08:03:13 PM
post Re: Problem with SSTC
[Solid State Tesla Coils (SSTC)]
davekni
May 15, 2022, 07:49:51 PM
post Re: Problem with SSTC
[Solid State Tesla Coils (SSTC)]
Nunu00
May 15, 2022, 06:58:45 PM
post Re: Problem with SSTC
[Solid State Tesla Coils (SSTC)]
davekni
May 15, 2022, 06:47:53 PM
post Re: Kaizer DRSSTC 3
[Dual Resonant Solid State Tesla coils (DRSSTC)]
Hydron
May 15, 2022, 04:13:02 PM
post Re: Problem with SSTC
[Solid State Tesla Coils (SSTC)]
Nunu00
May 15, 2022, 02:38:18 PM
post Re: Kaizer DRSSTC 3
[Dual Resonant Solid State Tesla coils (DRSSTC)]
davekni
May 15, 2022, 03:53:35 AM
post Bipolar CW
[Voltage Multipliers]
abstruse1
May 15, 2022, 03:46:25 AM
post Re: Problem with SSTC
[Solid State Tesla Coils (SSTC)]
davekni
May 15, 2022, 03:40:42 AM
post Re: Home made Wimshurst machine and Van De Graaf generator
[Static Electricity]
davekni
May 15, 2022, 02:06:53 AM
post Re: Home made Wimshurst machine and Van De Graaf generator
[Static Electricity]
haversin
May 14, 2022, 10:26:32 PM
post Re: Problem with SSTC
[Solid State Tesla Coils (SSTC)]
Nunu00
May 14, 2022, 09:52:06 PM
post Re: Problem with SSTC
[Solid State Tesla Coils (SSTC)]
davekni
May 14, 2022, 09:25:23 PM
post Re: Problem with SSTC
[Solid State Tesla Coils (SSTC)]
Nunu00
May 14, 2022, 08:14:38 PM
post Re: Problem with SSTC
[Solid State Tesla Coils (SSTC)]
davekni
May 14, 2022, 08:02:22 PM
post Re: Flanging sound coming from DRSSTC
[Dual Resonant Solid State Tesla coils (DRSSTC)]
Coileone
May 14, 2022, 06:15:59 PM
post Re: Flanging sound coming from DRSSTC
[Dual Resonant Solid State Tesla coils (DRSSTC)]
Coileone
May 14, 2022, 06:12:32 PM
post Problem with SSTC
[Solid State Tesla Coils (SSTC)]
Nunu00
May 14, 2022, 05:18:16 PM
post Re: Wago "Lever Nuts"?
[General Chat]
Mads Barnkob
May 14, 2022, 03:24:48 PM
post Re: Flanging sound coming from DRSSTC
[Dual Resonant Solid State Tesla coils (DRSSTC)]
davekni
May 13, 2022, 11:06:50 PM
post Re: Flanging sound coming from DRSSTC
[Dual Resonant Solid State Tesla coils (DRSSTC)]
Mads Barnkob
May 13, 2022, 09:28:35 PM
post Re: Kaizer DRSSTC 3
[Dual Resonant Solid State Tesla coils (DRSSTC)]
Mads Barnkob
May 13, 2022, 09:24:22 PM
post Re: Flanging sound coming from DRSSTC
[Dual Resonant Solid State Tesla coils (DRSSTC)]
Coileone
May 13, 2022, 02:13:19 PM
post Re: Flanging sound coming from DRSSTC
[Dual Resonant Solid State Tesla coils (DRSSTC)]
Coileone
May 13, 2022, 02:09:23 PM
post Re: Flanging sound coming from DRSSTC
[Dual Resonant Solid State Tesla coils (DRSSTC)]
davekni
May 13, 2022, 06:16:20 AM
post Re: Flanging sound coming from DRSSTC
[Dual Resonant Solid State Tesla coils (DRSSTC)]
klugesmith
May 13, 2022, 01:57:25 AM
post Flanging sound coming from DRSSTC
[Dual Resonant Solid State Tesla coils (DRSSTC)]
Coileone
May 12, 2022, 10:05:32 PM
post Re: 3 Phase 400 VAC 6 A Variac Stack With Voltage/Current Meters
[Transformer (Iron Core)]
rikkitikkitavi
May 12, 2022, 09:41:04 PM
post Re: Thermometers
[Laboratories, Equipment and Tools]
rikkitikkitavi
May 12, 2022, 09:33:38 PM
post Re: Wago "Lever Nuts"?
[General Chat]
rikkitikkitavi
May 12, 2022, 09:27:40 PM
post Re: Driving the primary with other than 60Hz
[Spark Gap Tesla Coils (SGTC)]
Robert3z
May 12, 2022, 02:13:03 PM
post Re: Hi frequency ringing with GDT
[Solid State Tesla Coils (SSTC)]
davekni
May 12, 2022, 06:39:55 AM
post Re: Home made Wimshurst machine and Van De Graaf generator
[Static Electricity]
davekni
May 12, 2022, 06:27:47 AM
post Re: Driving the primary with other than 60Hz
[Spark Gap Tesla Coils (SGTC)]
davekni
May 12, 2022, 06:22:48 AM
post Wago "Lever Nuts"?
[General Chat]
abstruse1
May 12, 2022, 04:32:19 AM
post Re: Transistor choice
[Dual Resonant Solid State Tesla coils (DRSSTC)]
flyingperson23
May 12, 2022, 03:32:22 AM
post Re: Thermometers
[Laboratories, Equipment and Tools]
Twospoons
May 12, 2022, 12:00:11 AM
post Re: Kaizer DRSSTC 3
[Dual Resonant Solid State Tesla coils (DRSSTC)]
klugesmith
May 11, 2022, 09:53:15 PM
post Kaizer DRSSTC 3
[Dual Resonant Solid State Tesla coils (DRSSTC)]
Mads Barnkob
May 11, 2022, 09:40:00 PM
post Re: Hi frequency ringing with GDT
[Solid State Tesla Coils (SSTC)]
CarldeLevis
May 11, 2022, 09:39:21 PM
post Thermometers
[Laboratories, Equipment and Tools]
klugesmith
May 11, 2022, 09:36:59 PM
post Re: Home made Wimshurst machine and Van De Graaf generator
[Static Electricity]
Nicolas
May 11, 2022, 09:29:45 PM
post Re: Litz Wire?
[General Chat]
Mads Barnkob
May 11, 2022, 08:45:57 PM
post Re: Hi frequency ringing with GDT
[Solid State Tesla Coils (SSTC)]
Mads Barnkob
May 11, 2022, 08:43:38 PM
post Hi frequency ringing with GDT
[Solid State Tesla Coils (SSTC)]
CarldeLevis
May 11, 2022, 05:44:40 PM
post Re: Driving the primary with other than 60Hz
[Spark Gap Tesla Coils (SGTC)]
Hydron
May 11, 2022, 04:17:34 PM
post Re: Driving the primary with other than 60Hz
[Spark Gap Tesla Coils (SGTC)]
Robert3z
May 11, 2022, 03:10:27 PM
post Re: Driving the primary with other than 60Hz
[Spark Gap Tesla Coils (SGTC)]
Hydron
May 11, 2022, 01:46:57 PM
post Re: Driving the primary with other than 60Hz
[Spark Gap Tesla Coils (SGTC)]
Robert3z
May 11, 2022, 12:37:19 PM
post Re: Home made Wimshurst machine and Van De Graaf generator
[Static Electricity]
Uspring
May 11, 2022, 11:33:30 AM
post Re: Driving the primary with other than 60Hz
[Spark Gap Tesla Coils (SGTC)]
Hydron
May 11, 2022, 11:00:59 AM
post Re: Driving the primary with other than 60Hz
[Spark Gap Tesla Coils (SGTC)]
davekni
May 11, 2022, 06:30:45 AM
post Re: Home made Wimshurst machine and Van De Graaf generator
[Static Electricity]
davekni
May 11, 2022, 06:11:08 AM
post Re: Litz Wire?
[General Chat]
abstruse1
May 11, 2022, 04:00:41 AM
post Driving the primary with other than 60Hz
[Spark Gap Tesla Coils (SGTC)]
Robert3z
May 11, 2022, 02:06:34 AM
post Re: Home made Wimshurst machine and Van De Graaf generator
[Static Electricity]
Mads Barnkob
May 10, 2022, 07:52:45 PM
post Re: Home made Wimshurst machine and Van De Graaf generator
[Static Electricity]
Nicolas
May 10, 2022, 10:04:27 AM
post Re: Transistor choice
[Dual Resonant Solid State Tesla coils (DRSSTC)]
Mads Barnkob
May 10, 2022, 09:31:39 AM
post Re: Litz Wire?
[General Chat]
Mads Barnkob
May 10, 2022, 09:29:19 AM
post Re: Welcome new members, come say hello and tell a little about yourself :)
[General Chat]
Mads Barnkob
May 10, 2022, 09:23:38 AM
post Re: Transistor choice
[Dual Resonant Solid State Tesla coils (DRSSTC)]
AstRii
May 10, 2022, 07:24:33 AM
post Transistor choice
[Dual Resonant Solid State Tesla coils (DRSSTC)]
flyingperson23
May 10, 2022, 03:33:10 AM
post Litz Wire?
[General Chat]
abstruse1
May 10, 2022, 03:16:29 AM
post Re: Home made Wimshurst machine and Van De Graaf generator
[Static Electricity]
DashApple
May 09, 2022, 07:41:51 AM
post Re: Home made Wimshurst machine and Van De Graaf generator
[Static Electricity]
johnf
May 09, 2022, 05:39:51 AM
post Re: Home made Wimshurst machine and Van De Graaf generator
[Static Electricity]
davekni
May 09, 2022, 12:44:13 AM
post Re: First tesla coil building / Questions before ignition
[Spark Gap Tesla Coils (SGTC)]
Nicolas
May 09, 2022, 12:24:37 AM
post Home made Wimshurst machine and Van De Graaf generator
[Static Electricity]
Nicolas
May 09, 2022, 12:21:40 AM
post Ground, Grounding, Grounded?
[General Chat]
abstruse1
May 09, 2022, 12:13:01 AM
post Re: QCW questions
[Dual Resonant Solid State Tesla coils (DRSSTC)]
davekni
May 08, 2022, 06:43:31 PM
post Re: QCW questions
[Dual Resonant Solid State Tesla coils (DRSSTC)]
Rafft
May 08, 2022, 07:43:13 AM
post Re: 3 Phase 400 VAC 6 A Variac Stack With Voltage/Current Meters
[Transformer (Iron Core)]
Mads Barnkob
May 07, 2022, 07:59:36 PM
post Re: Welcome new members, come say hello and tell a little about yourself :)
[General Chat]
Robert3z
May 07, 2022, 06:41:41 PM
post Re: Capacitor Esoterica
[General Chat]
abstruse1
May 07, 2022, 05:57:22 PM
post Re: 3 Phase 400 VAC 6 A Variac Stack With Voltage/Current Meters
[Transformer (Iron Core)]
Hydron
May 07, 2022, 03:43:57 PM
post 3 Phase 400 VAC 6 A Variac Stack With Voltage/Current Meters
[Transformer (Iron Core)]
Mads Barnkob
May 07, 2022, 03:21:16 PM
post Re: QCW questions
[Dual Resonant Solid State Tesla coils (DRSSTC)]
Rafft
May 07, 2022, 06:52:29 AM
post Re: QCW questions
[Dual Resonant Solid State Tesla coils (DRSSTC)]
davekni
May 07, 2022, 04:57:41 AM
post Re: QCW questions
[Dual Resonant Solid State Tesla coils (DRSSTC)]
Rafft
May 06, 2022, 08:54:52 AM
post Re: QCW questions
[Dual Resonant Solid State Tesla coils (DRSSTC)]
davekni
May 06, 2022, 02:54:44 AM
post Re: DRSSTC No Breakout On Topload
[Dual Resonant Solid State Tesla coils (DRSSTC)]
Dhaygoh
May 05, 2022, 05:26:27 PM
post Re: DRSSTC No Breakout On Topload
[Dual Resonant Solid State Tesla coils (DRSSTC)]
Dhaygoh
May 05, 2022, 05:14:32 PM
post Re: QCW questions
[Dual Resonant Solid State Tesla coils (DRSSTC)]
Rafft
May 05, 2022, 06:29:00 AM
post Re: QCW questions
[Dual Resonant Solid State Tesla coils (DRSSTC)]
davekni
May 05, 2022, 05:56:01 AM
post Re: QCW questions
[Dual Resonant Solid State Tesla coils (DRSSTC)]
Rafft
May 05, 2022, 05:11:45 AM
post Re: QCW questions
[Dual Resonant Solid State Tesla coils (DRSSTC)]
davekni
May 05, 2022, 04:37:42 AM
post Re: DRSSTC No Breakout On Topload
[Dual Resonant Solid State Tesla coils (DRSSTC)]
davekni
May 05, 2022, 04:19:47 AM
post Re: Capacitor Esoterica
[General Chat]
johnf
May 04, 2022, 11:22:09 PM
post Re: DRSSTC driver in the chip shortage
[Dual Resonant Solid State Tesla coils (DRSSTC)]
Hydron
May 04, 2022, 11:04:19 PM

Sitemap 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 
SimplePortal 2.3.6 © 2008-2014, SimplePortal