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Post by vicpopo on Jan 5, 2015 5:33:53 GMT
Ok Thanks Thanos .
but if I dsrease the on line speed , this won't affect the PID tuning because it's not the real speed in game ?
ok understood : still beta so first check all functionalities and after full speed ! Yes !
And I forgoten one small bug also , when playing with osciloscope to find out the period for oscilations the osciloscope crashed.It crashed when I try to adjust the zoom in Y direction I believe .It was during the auto tuning process and I will test out from this process check if it crashed also playing with zooming.
Regards
Gilles
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Post by riton39 on Jan 5, 2015 7:18:30 GMT
I would have liked to test with only one engine.
is it possible to put a minimum of 1 DOF?
or I should add 2 engines?
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Post by fabi on Jan 5, 2015 8:12:12 GMT
I would have liked to test with only one engine. is it possible to put a minimum of 1 DOF? or I should add 2 engines? Just connect only one motor as actor-1 and leave the Thanos board configuration as "6 DOF". Keep in mind: If there is no load on the platform, it probably starts to oscillate with a higher P value than it would with load. So once you switch to the full motion platform, you will need to tune again. |
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Post by fabi on Jan 5, 2015 8:14:21 GMT
when playing with osciloscope to find out the period for oscilations the osciloscope crashed.It crashed when I try to adjust the zoom in Y direction I believe . Hmmm .... maybe a range issue with the sliders. Let me know once you figured out any pattern how to get it crashing that I can reproduce it. |
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Post by fabi on Jan 5, 2015 8:16:16 GMT
fabi Do you think you could make a short demo video of the Auto-tuning procedure? Perhaps showing the improvement of motion on the motors, before and after the tuning of the PID...  Yes will do it... as soon time allows.... back at regular work  |
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Post by fabi on Jan 5, 2015 8:18:09 GMT
i select 2 DOF, but i have just one motor to test I need to review all 2....5 DOF. For now use 6 DOF. |
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Post by fabi on Jan 5, 2015 8:26:02 GMT
when you make the auto tuning process I suppose you choosen one actuator? The idea behind the Ziegler/Niclos is to increase the P-Value until the system starts to oscillate. So if you wanna focus on one specific actor, increase P until this specific actor starts oscillating (but make sure the other actors are not pumping your system away). From there, you need to evaluate the oscillate frequency from this specific actor (what you can do with the oscilloscope). That will give you the PID values for the specific actor. On my platform I've evaluated like above PID for each actor and I've ended up with almost the exactly same PID. Cool, that sounds a local Sim session needs to happen somewhen  |
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Post by fabi on Jan 5, 2015 8:39:55 GMT
fabi, You should evaluate the current position of the motors on the start of the program and use these for initial position for the "manual" slider for the motion. Some platforms are just too fast to just send a too far destination setpoint! Will do. Question: Given that the APP is sending always same position for each actor AND seeing the picture from vicpopo, do you think that the actor simply did over-run the zero position because the fast speed OR do we need to assume that not all platforms are doing "heave" if all actors get same increase/decrease values? |
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Post by riton39 on Jan 5, 2015 8:40:09 GMT
yes, that's what I did.
a motor, the minimum on the card is 2 DOF, it works in games with a single motor.
I am worried about not having a reaction with the setup, when I click on "evaluate current Platform heave position"
I see the value up or down, but the engine is still down or it does not move.
that should it spend it when I click "evaluate current Platform heave position" ?
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Post by riton39 on Jan 5, 2015 11:20:21 GMT
my English is bad and the video is difficult to understand.
I probably wrong Startup with the use of the software.
Video can be directly with the startup configuration would be more meaningful? |
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Post by vicpopo on Jan 5, 2015 12:02:17 GMT
yes, that's what I did. a motor, the minimum on the card is 2 DOF, it works in games with a single motor. I am worried about not having a reaction with the setup, when I click on "evaluate current Platform heave position" I see the value up or down, but the engine is still down or it does not move. that should it spend it when I click "evaluate current Platform heave position" ? Hi Riton , when you play with up and down the steps incrementation are so little that you can't see it ! quand tu joues avec up et down les pas d'incrementation sont tellement petits que tu ne peux pas les voir à l'oeil . Tu as 65000 positions pour 180° donc une valeur d'increment de 1 c'est 1/65000 de 180 de degrés donc pas visible. j'ai pas essayé mais tu peux augmenter ces pas et peut être que cela sera visible. hi Fabi, I agree that for the PID setup I have to seat on the simulator but now for me it's not possible until the overshooten problem not solved. i think that the problem is when the position is overshooten the amc try to reach the new position but keeping the same direction ( CW or CCW depends of the actuator) .that means a complete turn to get the new position and not change over the direction. |
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Post by riton39 on Jan 5, 2015 12:07:01 GMT
oui j'ai remarqué , mais ça bouge jamais .
si je le laisse faire, il bouge pas la came.
Pourquoi tout est grisé dans l'auto tuning?
tu y a accès ?
yes I noticed, but it never moves.
if I let him, he not move the cam.
Why everything is greyed out in the auto tuning?
you will have access?
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Post by vicpopo on Jan 5, 2015 15:13:51 GMT
oui j'ai remarqué , mais ça bouge jamais . si je le laisse faire, il bouge pas la came. Pourquoi tout est grisé dans l'auto tuning? tu y a accès ? yes I noticed, but it never moves. if I let him, he not move the cam. Why everything is greyed out in the auto tuning? you will have access? Quand tu es sur la page de l'auto tuning tu dois d'abord valider la fenêtre à gauche (en dessous de la première) comme quoi tu as bien compris et que tu as fais les manip de l'evaluate heave. Mais comme tu ne peux pas faire cette manip cela ne te libère peut être pas le Process auto tuning |
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Post by riton39 on Jan 5, 2015 16:27:19 GMT
I found the problem.
it does not work with 2DOF.
we must put 6 DOF in AMC and it works.
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Post by riton39 on Jan 5, 2015 17:01:55 GMT
I have also crash when zooming, like you Vicpopo.
is it possble to have detailed the zoom of the measuring period not to make a mistake?
Edit: it is important to adjust the PID with a ramp to 0.0 and a maximum speed.
if the drive goes into error must be put minimum ramp.
otherwise all settings are wrong.
my first test confirms my manual adjustment, my PID was to 45.0.0
with auto tuning setting, I get 42.0.0 /45.0.0 |
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