different KP, KI ,and Kd gains propotional to the err

Discussion in 'Build & Tune' started by midhunmohan, Jan 1, 2017.

  1. midhunmohan

    midhunmohan New Member

    Hi ,

    I am working on a x quad , i am quiet new in this ....now i am trying to implement different strategies for a versatile quad...means ...high maneuverability and high stability ...i know both will not co exist ...:)
    but am trying a different approach identifying different error zones ..in that error magnitude varies ..eg : near to less or steady state error i will use kd high above that zone ...means error approaching to ss make the kd as less compared to steady state zone ...like that ..in case of higher errors the kd will be zero and i will be little bit high ....i think this will increase the scope of tuning ....somebody tried this kind of strategy ??????

    Midhun Mohan

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