Problem 1 Next week you will be tuning the roll/pitch motion of the quad. Knowin

Question

Problem 1 Next week you will be tuning the roll/pitch motion of the quad. Knowing you will be conducting this gain tuning (starting with Zeigler-Nichols closed loop tuning), the system will likely not be stable with the Z-N gains alone. Part a) If the system has too much overshoot, how will you modify the gains? Explain Part b) If the system does not achieve the necessary settling time, how will you modify the gains? Explain Part c) If the system can not stabilize at the desired angle (steady state error), how will you modify the gains? Explain.

Explanation / Answer

a) If the system has too much overshoot , the derivative control is used in the system. The derivative control decreases the response in the system and compensates overshoot caused earlier. To avoid too much overshoot a high derivative gain and low proportional gain is used in the system. This is done by multiplying the circuit by kd .

b) If the system cannot achieve the necessary settling time, The integral control in the system is used and this control helps in increasing the response time and setting time. This can also reduce steady state errors.
The integral response is achieved by multiplying with ki. Thus increasing integral gain in the system helps in achieving settling time.

c) Also for stabilizing the desired angle ie decreasing the steady state error the Value of Ki is increased. The increase of integral gain leads to significant decrease in the steady state errors. It does s by increasing response time with proportional control in the circuit..

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