Hello,
I am currently attempting to create a software gimbal model. This model will merely take a line-of-sight rate as an input, determine an error signal [e(t)] from the rate gyro feedback output, pass through a compensation filter, then pass through the actuator process and finally output the new gimbal angle positions. I have a few questions that I am hoping someone may be able to assist me with:
1. I am currently attempting all of this in the time domain and I am modeling the compensation filter as a PID process to determine the control signal by u(t) = Kp*e(t) + Ki*integral(e(t)dt) + Kd*de(t)/dt. Firstly, is there a way to determine the gain values (Kp, Ki, and Kd) in general? The intent is to integrate this into a top-level program and the values will vary by simulation.
2. How could I represent the actuator process for the gimbal in the time domain? I believe that in general the actuator process for a gimbal can be represented as a servo; which can be represented by (1/tau*s + 1) in state space. If possible, what is the mathematical model of the servo to determine the new gimbal angle positions by the control signal?
3. In general, how could I go about rate limiting between each process in the closed loop control system? If possible, I would like for these values to be determined within a simulation and not taken as inputs or hard coded. What is the general idea behind rate limiting and how could I go about determining these values in a top-level program?
Thank you in advance
I am currently attempting to create a software gimbal model. This model will merely take a line-of-sight rate as an input, determine an error signal [e(t)] from the rate gyro feedback output, pass through a compensation filter, then pass through the actuator process and finally output the new gimbal angle positions. I have a few questions that I am hoping someone may be able to assist me with:
1. I am currently attempting all of this in the time domain and I am modeling the compensation filter as a PID process to determine the control signal by u(t) = Kp*e(t) + Ki*integral(e(t)dt) + Kd*de(t)/dt. Firstly, is there a way to determine the gain values (Kp, Ki, and Kd) in general? The intent is to integrate this into a top-level program and the values will vary by simulation.
2. How could I represent the actuator process for the gimbal in the time domain? I believe that in general the actuator process for a gimbal can be represented as a servo; which can be represented by (1/tau*s + 1) in state space. If possible, what is the mathematical model of the servo to determine the new gimbal angle positions by the control signal?
3. In general, how could I go about rate limiting between each process in the closed loop control system? If possible, I would like for these values to be determined within a simulation and not taken as inputs or hard coded. What is the general idea behind rate limiting and how could I go about determining these values in a top-level program?
Thank you in advance
