How can I design a (PID) Controller if I don't have a reference signal? The Next CEO of Stack OverflowIntegration in PID controllerPID controller convergenceController design for an exponential plant of the form $y=aexp(bx)$How do I find a closed loop PID controller from a transfer function?Integrator chain with PID controller?IMC controller - What reference model should I use?How do I tune an IMC(Internal Model Control) - controller?Closed loop flow diagram - Controlling the output using another dependent quantity.How can I choose the disturbance model if I know the plant and controller - Transfer functionsCan I build an adaptive controller by using an ODE solver and a 3D graphics engine?
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How can I design a (PID) Controller if I don't have a reference signal?
The Next CEO of Stack OverflowIntegration in PID controllerPID controller convergenceController design for an exponential plant of the form $y=aexp(bx)$How do I find a closed loop PID controller from a transfer function?Integrator chain with PID controller?IMC controller - What reference model should I use?How do I tune an IMC(Internal Model Control) - controller?Closed loop flow diagram - Controlling the output using another dependent quantity.How can I choose the disturbance model if I know the plant and controller - Transfer functionsCan I build an adaptive controller by using an ODE solver and a 3D graphics engine?
$begingroup$
I have been trying to control lateral and longitudinal movement of a robot for an autonomous lane keeper project. I have no problem with the lateral movement, however I couldn2t figure out exactly how to control the longitudinal,
What I have in my mind is to lower the base speed of the vehicle as the lane angle increases (sharp turns), which can be expressed as
$$ Base_Speed=Max_Speed-K_1*Lane_angle $$
where $K_1$ is a constant that determines how much the vehicle should beslow down.
My question is how can I proceed with this longtidual speed control considering this expression seemed very basic . As of now I have no real speed information coming from sensors (encoders), but you may assume I have.
Thank you!
optimization control-theory optimal-control linear-control pi-controller
asked Mar 18 at 12:04
Halil TemurtaşHalil Temurtaş
1
$endgroup$
|
show 5 more comments
$begingroup$
I have been trying to control lateral and longitudinal movement of a robot for an autonomous lane keeper project. I have no problem with the lateral movement, however I couldn2t figure out exactly how to control the longitudinal,
What I have in my mind is to lower the base speed of the vehicle as the lane angle increases (sharp turns), which can be expressed as
$$ Base_Speed=Max_Speed-K_1*Lane_angle $$
where $K_1$ is a constant that determines how much the vehicle should beslow down.
My question is how can I proceed with this longtidual speed control considering this expression seemed very basic . As of now I have no real speed information coming from sensors (encoders), but you may assume I have.
Thank you!
optimization control-theory optimal-control linear-control pi-controller
asked Mar 18 at 12:04
Halil TemurtaşHalil Temurtaş
1
$endgroup$
$begingroup$
As I understand correctly, you are missing the signal $fracddtLane_angle$. Why don't you do a differentiation on the $Lane_angle$ signal?
$endgroup$
– Martin Rosenau
Mar 18 at 12:17
$begingroup$
Hello Martin, thank you for your answer. I can differentiate the angle signal, however, I couldn't figure out exactly how it fits in the control system. Assuming I supple this angle information as a feedback, the structure lacks a reference signal to compare. Or doesn't it?
$endgroup$
– Halil Temurtaş
Mar 18 at 12:53
$begingroup$
Edit : @MartinRosenau I forgot to mention you.
$endgroup$
– Halil Temurtaş
Mar 18 at 15:12
$begingroup$
Shouldn't you just use 0 as the reference signal for $d_t textLane_textangle$? If there's no change in the rate at which a turn is occurring, shouldn't the speed stay constant in regards to rate of turn?
$endgroup$
– Michael Sparapany
Mar 18 at 17:33
$begingroup$
Hi @MichaelSparapany it is a rather interesting idea, I also tought giving a zero ref, but how about the controlled variable. I do not have a control over the lane angle. Do you suggest a block diagram similar to what I posted below? Thank you anyway!
$endgroup$
– Halil Temurtaş
Mar 18 at 19:36
|
show 5 more comments
$begingroup$
I have been trying to control lateral and longitudinal movement of a robot for an autonomous lane keeper project. I have no problem with the lateral movement, however I couldn2t figure out exactly how to control the longitudinal,
What I have in my mind is to lower the base speed of the vehicle as the lane angle increases (sharp turns), which can be expressed as
$$ Base_Speed=Max_Speed-K_1*Lane_angle $$
where $K_1$ is a constant that determines how much the vehicle should beslow down.
My question is how can I proceed with this longtidual speed control considering this expression seemed very basic . As of now I have no real speed information coming from sensors (encoders), but you may assume I have.
Thank you!
optimization control-theory optimal-control linear-control pi-controller
asked Mar 18 at 12:04
Halil TemurtaşHalil Temurtaş
1
$endgroup$
I have been trying to control lateral and longitudinal movement of a robot for an autonomous lane keeper project. I have no problem with the lateral movement, however I couldn2t figure out exactly how to control the longitudinal,
What I have in my mind is to lower the base speed of the vehicle as the lane angle increases (sharp turns), which can be expressed as
$$ Base_Speed=Max_Speed-K_1*Lane_angle $$
where $K_1$ is a constant that determines how much the vehicle should beslow down.
My question is how can I proceed with this longtidual speed control considering this expression seemed very basic . As of now I have no real speed information coming from sensors (encoders), but you may assume I have.
Thank you!
optimization control-theory optimal-control linear-control pi-controller
optimization control-theory optimal-control linear-control pi-controller
asked Mar 18 at 12:04
Halil TemurtaşHalil Temurtaş
1
asked Mar 18 at 12:04
Halil TemurtaşHalil Temurtaş
1
asked Mar 18 at 12:04
Halil TemurtaşHalil Temurtaş
1
asked Mar 18 at 12:04
Halil TemurtaşHalil Temurtaş
1
asked Mar 18 at 12:04
Halil TemurtaşHalil Temurtaş
1
1
$begingroup$
As I understand correctly, you are missing the signal $fracddtLane_angle$. Why don't you do a differentiation on the $Lane_angle$ signal?
$endgroup$
– Martin Rosenau
Mar 18 at 12:17
$begingroup$
Hello Martin, thank you for your answer. I can differentiate the angle signal, however, I couldn't figure out exactly how it fits in the control system. Assuming I supple this angle information as a feedback, the structure lacks a reference signal to compare. Or doesn't it?
$endgroup$
– Halil Temurtaş
Mar 18 at 12:53
$begingroup$
Edit : @MartinRosenau I forgot to mention you.
$endgroup$
– Halil Temurtaş
Mar 18 at 15:12
$begingroup$
Shouldn't you just use 0 as the reference signal for $d_t textLane_textangle$? If there's no change in the rate at which a turn is occurring, shouldn't the speed stay constant in regards to rate of turn?
$endgroup$
– Michael Sparapany
Mar 18 at 17:33
$begingroup$
Hi @MichaelSparapany it is a rather interesting idea, I also tought giving a zero ref, but how about the controlled variable. I do not have a control over the lane angle. Do you suggest a block diagram similar to what I posted below? Thank you anyway!
$endgroup$
– Halil Temurtaş
Mar 18 at 19:36
|
show 5 more comments
$begingroup$
As I understand correctly, you are missing the signal $fracddtLane_angle$. Why don't you do a differentiation on the $Lane_angle$ signal?
$endgroup$
– Martin Rosenau
Mar 18 at 12:17
$begingroup$
Hello Martin, thank you for your answer. I can differentiate the angle signal, however, I couldn't figure out exactly how it fits in the control system. Assuming I supple this angle information as a feedback, the structure lacks a reference signal to compare. Or doesn't it?
$endgroup$
– Halil Temurtaş
Mar 18 at 12:53
$begingroup$
Edit : @MartinRosenau I forgot to mention you.
$endgroup$
– Halil Temurtaş
Mar 18 at 15:12
$begingroup$
Shouldn't you just use 0 as the reference signal for $d_t textLane_textangle$? If there's no change in the rate at which a turn is occurring, shouldn't the speed stay constant in regards to rate of turn?
$endgroup$
– Michael Sparapany
Mar 18 at 17:33
$begingroup$
Hi @MichaelSparapany it is a rather interesting idea, I also tought giving a zero ref, but how about the controlled variable. I do not have a control over the lane angle. Do you suggest a block diagram similar to what I posted below? Thank you anyway!
$endgroup$
– Halil Temurtaş
Mar 18 at 19:36
$begingroup$
As I understand correctly, you are missing the signal $fracddtLane_angle$. Why don't you do a differentiation on the $Lane_angle$ signal?
$endgroup$
– Martin Rosenau
Mar 18 at 12:17
$begingroup$
As I understand correctly, you are missing the signal $fracddtLane_angle$. Why don't you do a differentiation on the $Lane_angle$ signal?
$endgroup$
– Martin Rosenau
Mar 18 at 12:17
$begingroup$
Hello Martin, thank you for your answer. I can differentiate the angle signal, however, I couldn't figure out exactly how it fits in the control system. Assuming I supple this angle information as a feedback, the structure lacks a reference signal to compare. Or doesn't it?
$endgroup$
– Halil Temurtaş
Mar 18 at 12:53
$begingroup$
Hello Martin, thank you for your answer. I can differentiate the angle signal, however, I couldn't figure out exactly how it fits in the control system. Assuming I supple this angle information as a feedback, the structure lacks a reference signal to compare. Or doesn't it?
$endgroup$
– Halil Temurtaş
Mar 18 at 12:53
$begingroup$
Edit : @MartinRosenau I forgot to mention you.
$endgroup$
– Halil Temurtaş
Mar 18 at 15:12
$begingroup$
Edit : @MartinRosenau I forgot to mention you.
$endgroup$
– Halil Temurtaş
Mar 18 at 15:12
$begingroup$
Shouldn't you just use 0 as the reference signal for $d_t textLane_textangle$? If there's no change in the rate at which a turn is occurring, shouldn't the speed stay constant in regards to rate of turn?
$endgroup$
– Michael Sparapany
Mar 18 at 17:33
$begingroup$
Shouldn't you just use 0 as the reference signal for $d_t textLane_textangle$? If there's no change in the rate at which a turn is occurring, shouldn't the speed stay constant in regards to rate of turn?
$endgroup$
– Michael Sparapany
Mar 18 at 17:33
$begingroup$
Hi @MichaelSparapany it is a rather interesting idea, I also tought giving a zero ref, but how about the controlled variable. I do not have a control over the lane angle. Do you suggest a block diagram similar to what I posted below? Thank you anyway!
$endgroup$
– Halil Temurtaş
Mar 18 at 19:36
$begingroup$
Hi @MichaelSparapany it is a rather interesting idea, I also tought giving a zero ref, but how about the controlled variable. I do not have a control over the lane angle. Do you suggest a block diagram similar to what I posted below? Thank you anyway!
$endgroup$
– Halil Temurtaş
Mar 18 at 19:36
|
show 5 more comments
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$begingroup$
As I understand correctly, you are missing the signal $fracddtLane_angle$. Why don't you do a differentiation on the $Lane_angle$ signal?
$endgroup$
– Martin Rosenau
Mar 18 at 12:17
$begingroup$
Hello Martin, thank you for your answer. I can differentiate the angle signal, however, I couldn't figure out exactly how it fits in the control system. Assuming I supple this angle information as a feedback, the structure lacks a reference signal to compare. Or doesn't it?
$endgroup$
– Halil Temurtaş
Mar 18 at 12:53
$begingroup$
Edit : @MartinRosenau I forgot to mention you.
$endgroup$
– Halil Temurtaş
Mar 18 at 15:12
$begingroup$
Shouldn't you just use 0 as the reference signal for $d_t textLane_textangle$? If there's no change in the rate at which a turn is occurring, shouldn't the speed stay constant in regards to rate of turn?
$endgroup$
– Michael Sparapany
Mar 18 at 17:33
$begingroup$
Hi @MichaelSparapany it is a rather interesting idea, I also tought giving a zero ref, but how about the controlled variable. I do not have a control over the lane angle. Do you suggest a block diagram similar to what I posted below? Thank you anyway!
$endgroup$
– Halil Temurtaş
Mar 18 at 19:36