PID Observations
PID Observations
General behavior Characteristics:
- Higher Proportional Control = Operates at defined setpoint
- Higher fraction control here to force the fight between muscle activation and relaxed hand posture
- Lower Proportional Control = Infinite rise in output value (operating in the single digits results in 10^6 outputs)
- Higher Integral Control = Infinite rise in value although smoother slope established
- The rise in output value must be counteracted either by a negative slope or much higher fraction of Proportional Control
- Higher Fraction Differential Control = More exact value output (realistic to given input)
- Most Exact control Here
- Lower Fraction Differential Control = Less sine wave characteristics
- Take the different in maximum amplitude within sliding window rather than the absolute given value to control the influence of the sine wave and the possible flutter
Coded PID Characteristics:
- Tested with two different step functions and several sine wave inputs
- Varied control across the three error schemes
- Have defined set point of 0.5 to observe behavior
- Finite loop that will be adjusted to operate in the sliding window that will later be defined
Needed for Code Improvement:
- A break that defines the maximum amplitude in a window: once that is reached abort the loop and maintain this position until the maximum/minimum is redefined
Most Promising Output with Defined Constants General Control System:
- Proportional : Integral : Differential = 1:0.008:0.5
- Code in proportional change to prevent fluttering and exit loop when max. reached
*Output images blocked for upload, code with outputs updated in Github platform