- Ask a related questionWhat is a related question?A related question is a question created from another question. When the related question is created, it will be automatically linked to the original question.
This thread has been locked.
If you have a related question, please click the "Ask a related question" button in the top right corner. The newly created question will be automatically linked to this question.
Hello All,
I've added the PID example here: X:\ti\c2000\C2000Ware_1_00_04_00\libraries\control\DCL\c28\examples\F28069_PID
to my code - just trying to control a PWM output - and no matter what I seem to do - the PID output just 'bounces' between what I've set for Umax and Umin.
I've read the DCL doc which is a little sparse; I was wondering if there is an FAQ posted someplace regarding the TI provided PID code; and maybe seeing
the output alternate between Umax and Umin is just a config option I've goofed.
Thanks In Advance,
John W.
John,
Correct: the floating point controllers in the DCL are intended to work with absolute, rather than normalized, data. Floating point buys us that. Typically only with the fixed point controllers do we need to be concerned about scaling. A lot of testing went into the DCL controllers before they were released so I'm confident they are functionally sound.
By the way, a new version of the DCL will be deployed in a few days in C2000Ware v1.00.05. Look for that at the end of the month. None of the controller code has changed so you shouldn't have any issues if you decide to use it, however you will see some structural changes to the library and many more support functions which I hope you will like.
Something I think we could do fairly quickly is to add a "Tuning Guide" document to help new users through the initial tuning phase. I don't think we need a new version for that. I'll pull something together in the coming weeks and if you don't mind I'd like to run it by you to get your feedback?
Thanks for the question - it has been food for thought.
Regards,
Richard
Richard,
OK - thanks for that info - I've been running it both ways - and since I made the changes you suggested it appears it's trying to converge - here's some sample data:
CH:63,CL:111, D861.212097, uk:0.196128, lk:0.960000, di:969, ds:971
CH:48,CL:88, D969.212036, uk:0.346128, lk:0.880000, di:970, ds:971
CH:18,CL:76, D1188.063354, uk:0.650088, lk:0.760000, di:969, ds:971
CH:31,CL:83, D1095.858643, uk:0.522026, lk:0.830000, di:970, ds:971
CH:39,CL:55, D1039.065430, uk:0.443146, lk:0.550000, di:968, ds:970
CH:25,CL:69, D1141.231567, uk:0.585044, lk:0.690000, di:968, ds:970
CH:48,CL:87, D975.631592, uk:0.355044, lk:0.870000, di:969, ds:970
CH:26,CL:68, D1136.098755, uk:0.577915, lk:0.680000, di:968, ds:970
CH:36,CL:59, D1064.980103, uk:0.479139, lk:0.590000, di:967, ds:970
CH:19,CL:76, D1189.227905, uk:0.651705, lk:0.760000, di:966, ds:970
CH:35,CL:178, D1075.094971, uk:0.493187, lk:0.960000, di:967, ds:970
CH:36,CL:58, D1069.139160, uk:0.484915, lk:0.580000, di:966, ds:970
CH:58,CL:85, D910.112732, uk:0.264045, lk:0.850000, di:967, ds:970
CH:64,CL:111, D865.443848, uk:0.202005, lk:0.960000, di:968, ds:970
CH:20,CL:75, D1185.146973, uk:0.646037, lk:0.750000, di:967, ds:970
CH:25,CL:71, D1151.010010, uk:0.598625, lk:0.710000, di:966, ds:970
CH:25,CL:70, D1152.773560, uk:0.601074, lk:0.700000, di:965, ds:970
CH:42,CL:72, D1030.827148, uk:0.431704, lk:0.720000, di:966, ds:970
CH:11,CL:84, D1256.904297, uk:0.745700, lk:0.840000, di:965, ds:970
CH:29,CL:65, D1129.027954, uk:0.568094, lk:0.650000, di:964, ds:970
CH:32,CL:144, D1108.551147, uk:0.539654, lk:0.960000, di:965, ds:970
CH:39,CL:56, D1059.084229, uk:0.470950, lk:0.560000, di:963, ds:965
CH:19,CL:75, D1204.838257, uk:0.673386, lk:0.750000, di:963, ds:965
CH:36,CL:69, D1083.410278, uk:0.504736, lk:0.690000, di:964, ds:965
CH:32,CL:61, D1113.402588, uk:0.546392, lk:0.610000, di:963, ds:965
CH:48,CL:86, D998.202515, uk:0.386392, lk:0.860000, di:964, ds:965
CH:22,CL:72, D1187.817383, uk:0.649746, lk:0.720000, di:963, ds:965
CH:31,CL:64, D1124.339355, uk:0.561582, lk:0.640000, di:962, ds:965
CH:31,CL:85, D1125.514404, uk:0.563214, lk:0.850000, di:963, ds:965
CH:32,CL:62, D1119.783203, uk:0.555254, lk:0.620000, di:962, ds:965
CH:22,CL:75, D1193.524170, uk:0.657672, lk:0.750000, di:961, ds:965
CH:41,CL:73, D1057.291138, uk:0.468460, lk:0.730000, di:962, ds:965
CH:28,CL:66, D1152.468018, uk:0.600650, lk:0.660000, di:961, ds:965
CH:13,CL:83, D1262.962646, uk:0.754115, lk:0.830000, di:960, ds:965
CH:28,CL:66, D1156.755493, uk:0.606605, lk:0.660000, di:959, ds:965
CH:42,CL:72, D1056.383301, uk:0.467199, lk:0.720000, di:960, ds:965
CH:32,CL:62, D1129.627441, uk:0.568927, lk:0.620000, di:959, ds:965
CH:12,CL:83, D1276.037964, uk:0.772275, lk:0.830000, di:958, ds:965
CH:26,CL:69, D1177.210083, uk:0.635014, lk:0.690000, di:957, ds:965
CH:37,CL:77, D1098.829834, uk:0.526152, lk:0.770000, di:958, ds:965
CH:35,CL:61, D1114.310791, uk:0.547654, lk:0.610000, di:957, ds:965
CH:48,CL:87, D1020.710815, uk:0.417654, lk:0.870000, di:958, ds:965
CH:18,CL:76, D1239.529663, uk:0.721569, lk:0.760000, di:957, ds:965
CH:30,CL:64, D1154.607178, uk:0.603621, lk:0.640000, di:956, ds:965
CH:70,CL:180, D865.086487, uk:0.201509, lk:0.960000, di:957, ds:965
The CH and CL's are HRCAP register counts in HRCAPCLK time - 48 is the magic number in this case - and the DXXX is duty cycle as calculated by the PID - keeping in mind this was either just Umax or Umin before; the uk and lk are the same as in the example (except this is normalized), and di and ds were just some manually set variables I was playing with doing a manual PID of sorts.
Here a D of around 956 will yield a duty cycle of around 30% which is what the system needs right now - so at least this is some real progress and the PID is trying to converge.
And sure - I'll be glad to take a look at the Tuning Guide/FAQ.
I'll try this again with actual numbers since that's the way the PID is supposed to be used since we do have an FPU. And NP regarding the question.
On one test run I did the PID went from 50% (the starting point I have set) - to practically the correct 30% value in the first few steps - so that was really nice to see. Just need to tune this now.
Values like:
pid1.c1 = 188.0296600613396f;
I need to understand.
Thanks Again!
John W.
And, here is some more data:
CH:57,CL:77, D654.227966, uk:-0.091350, lk:0.290000, PDS:54.567505, di:1101, ds: 0 <== PID Begins here.
CH:23,CL:70, D899.810974, uk:0.249738, lk:0.220000, PDS:37.513130, di:1100, ds:0
CH:31,CL:83, D842.614868, uk:0.170298, lk:0.350000, PDS:41.485077, di:1101, ds:0
CH:34,CL:59, D821.544128, uk:0.141034, lk:0.110000, PDS:42.948322, di:1100, ds:0
CH:39,CL:75, D785.651062, uk:0.091182, lk:0.270000, PDS:45.440899, di:1101, ds:0
CH:42,CL:72, D764.225952, uk:0.061425, lk:0.240000, PDS:46.928757, di:1102, ds:0
CH:20,CL:74, D923.351807, uk:0.282433, lk:0.260000, PDS:35.878349, di:1101, ds:0
CH:24,CL:70, D895.225647, uk:0.243369, lk:0.220000, PDS:37.831551, di:1100, ds:0
CH:39,CL:55, D787.439514, uk:0.093666, lk:0.070000, PDS:45.316704, di:1098, ds:1100
CH:43,CL:71, D758.677368, uk:0.053719, lk:0.230000, PDS:47.314072, di:1100, ds:1100
CH:25,CL:69, D888.848633, uk:0.234512, lk:0.210000, PDS:38.274403, di:1099, ds:1100
CH:17,CL:77, D947.151672, uk:0.315488, lk:0.290000, PDS:34.225578, di:1098, ds:1100
CH:110,CL:191, D376.848389, uk:-0.476599, lk:1.000000, PDS:73.829971, di:1099, ds:1100
CH:21,CL:75, D919.764343, uk:0.277450, lk:0.270000, PDS:36.127480, di:1098, ds:1100
CH:15,CL:80, D963.926636, uk:0.338787, lk:0.320000, PDS:33.060654, di:1097, ds:1100
CH:101,CL:94, D379.067749, uk:-0.473517, lk:0.460000, PDS:73.675850, di:1098, ds:1100
CH:37,CL:78, D804.414246, uk:0.117242, lk:0.300000, PDS:44.137901, di:1099, ds:1100
CH:54,CL:81, D681.819824, uk:-0.053028, lk:0.330000, PDS:52.651402, di:1100, ds:1100
CH:25,CL:69, D891.439575, uk:0.238110, lk:0.210000, PDS:38.094475, di:1099, ds:1100
CH:48,CL:106, D725.839600, uk:0.008110, lk:0.580000, PDS:49.594475, di:1100, ds:1100
CH:29,CL:65, D863.829773, uk:0.199763, lk:0.170000, PDS:40.011822, di:1099, ds:1100
CH:47,CL:108, D734.248047, uk:0.019789, lk:0.600000, PDS:49.010551, di:1100, ds:1100
CH:30,CL:64, D857.814453, uk:0.191409, lk:0.160000, PDS:40.429550, di:1099, ds:1100
CH:47,CL:88, D735.431763, uk:0.021433, lk:0.400000, PDS:48.928349, di:1100, ds:1100
CH:30,CL:64, D858.609375, uk:0.192513, lk:0.160000, PDS:40.374352, di:1099, ds:1100
CH:48,CL:107, D729.009399, uk:0.012513, lk:0.590000, PDS:49.374348, di:1100, ds:1100
CH:30,CL:64, D859.756287, uk:0.194106, lk:0.160000, PDS:40.294701, di:1099, ds:1100
CH:66,CL:155, D600.245300, uk:-0.166326, lk:1.000000, PDS:58.316299, di:1100, ds:1100
CH:25,CL:69, D897.929260, uk:0.247124, lk:0.210000, PDS:37.643803, di:1099, ds:1100
CH:39,CL:56, D797.333374, uk:0.107408, lk:0.080000, PDS:44.629627, di:1097, ds:1099
CH:43,CL:72, D768.576538, uk:0.067468, lk:0.240000, PDS:46.626633, di:1099, ds:1099
CH:42,CL:71, D775.932068, uk:0.077684, lk:0.230000, PDS:46.115829, di:1100, ds:1099
CH:37,CL:78, D812.205322, uk:0.128063, lk:0.300000, PDS:43.596851, di:1101, ds:1099
CH:32,CL:63, D848.723694, uk:0.178783, lk:0.150000, PDS:41.060860, di:1100, ds:1099
CH:38,CL:78, D805.685730, uk:0.119008, lk:0.300000, PDS:44.049603, di:1101, ds:1099
CH:20,CL:76, D936.192932, uk:0.300268, lk:0.280000, PDS:34.986603, di:1100, ds:1099
CH:40,CL:54, D792.434937, uk:0.100604, lk:0.060000, PDS:44.969795, di:1098, ds:1100
CH:19,CL:76, D943.822754, uk:0.310865, lk:0.280000, PDS:34.456757, di:1098, ds:1100
CH:17,CL:77, D959.160278, uk:0.332167, lk:0.290000, PDS:33.391647, di:1097, ds:1100
CH:25,CL:69, D902.280579, uk:0.253167, lk:0.210000, PDS:37.341629, di:1096, ds:1100
CH:34,CL:60, D837.798157, uk:0.163609, lk:0.120000, PDS:41.819572, di:1095, ds:1100
CH:33,CL:61, D845.192566, uk:0.173879, lk:0.130000, PDS:41.306072, di:1094, ds:1100
CH:47,CL:78, D744.406555, uk:0.033898, lk:0.300000, PDS:48.305099, di:1095, ds:1100
CH:31,CL:64, D860.157410, uk:0.194663, lk:0.160000, PDS:40.266846, di:1094, ds:1100
CH:47,CL:165, D744.974670, uk:0.034687, lk:1.000000, PDS:48.265648, di:1095, ds:1100
CH:30,CL:64, D869.318604, uk:0.207387, lk:0.160000, PDS:39.630653, di:1094, ds:1100
CH:28,CL:89, D884.064270, uk:0.227867, lk:0.410000, PDS:38.606651, di:1095, ds:1100
CH:25,CL:69, D906.682678, uk:0.259281, lk:0.210000, PDS:37.035923, di:1094, ds:1100
CH:42,CL:53, D784.418762, uk:0.089471, lk:0.050000, PDS:45.526474, di:1092, ds:1094
CH:20,CL:76, D942.969910, uk:0.309680, lk:0.280000, PDS:34.515984, di:1092, ds:1094
CH:20,CL:75, D943.816650, uk:0.310856, lk:0.270000, PDS:34.457176, di:1091, ds:1094
CH:29,CL:66, D879.570740, uk:0.221626, lk:0.180000, PDS:38.918697, di:1090, ds:1094
CH:39,CL:55, D807.745667, uk:0.121869, lk:0.070000, PDS:43.906551, di:1088, ds:1090
CH:39,CL:113, D807.813721, uk:0.121964, lk:0.650000, PDS:43.901825, di:1090, ds:1090
CH:24,CL:70, D917.498474, uk:0.274303, lk:0.220000, PDS:36.284828, di:1089, ds:1090
CH:33,CL:62, D853.054932, uk:0.184799, lk:0.140000, PDS:40.760075, di:1088, ds:1090
CH:33,CL:82, D853.281738, uk:0.185114, lk:0.340000, PDS:40.744324, di:1089, ds:1090
CH:39,CL:75, D810.412170, uk:0.125573, lk:0.270000, PDS:43.721378, di:1090, ds:1090
CH:34,CL:60, D846.820435, uk:0.176140, lk:0.120000, PDS:41.193027, di:1089, ds:1090
CH:29,CL:107, D883.066650, uk:0.226481, lk:0.590000, PDS:38.675926, di:1090, ds:1090
CH:33,CL:61, D855.222473, uk:0.187809, lk:0.130000, PDS:40.609550, di:1089, ds:1090
CH:32,CL:63, D862.647095, uk:0.198121, lk:0.150000, PDS:40.093952, di:1088, ds:1090
CH:28,CL:88, D891.771057, uk:0.238571, lk:0.400000, PDS:38.071453, di:1089, ds:1090
CH:26,CL:68, D907.121521, uk:0.259891, lk:0.200000, PDS:37.005455, di:1088, ds:1090
CH:43,CL:52, D784.829529, uk:0.090041, lk:0.040000, PDS:45.497948, di:1086, ds:1088
CH:21,CL:75, D943.346130, uk:0.310203, lk:0.270000, PDS:34.489853, di:1086, ds:1088
CH:19,CL:75, D958.591797, uk:0.331378, lk:0.270000, PDS:33.431122, di:1085, ds:1088
CH:27,CL:68, D901.604187, uk:0.252228, lk:0.200000, PDS:37.388599, di:1084, ds:1088
CH:37,CL:58, D829.841736, uk:0.152558, lk:0.100000, PDS:42.372101, di:1083, ds:1088
CH:30,CL:64, D880.436157, uk:0.222828, lk:0.160000, PDS:38.858604, di:1082, ds:1088
CH:47,CL:90, D758.053467, uk:0.052852, lk:0.420000, PDS:47.357399, di:1083, ds:1088
CH:30,CL:64, D881.269958, uk:0.223986, lk:0.160000, PDS:38.800697, di:1082, ds:1088
CH:29,CL:88, D888.798218, uk:0.234442, lk:0.400000, PDS:38.277901, di:1083, ds:1088
CH:17,CL:78, D976.537476, uk:0.356302, lk:0.300000, PDS:32.184898, di:1082, ds:1088
CH:33,CL:60, D861.823425, uk:0.196977, lk:0.120000, PDS:40.151154, di:1081, ds:1088
CH:38,CL:56, D825.953003, uk:0.147157, lk:0.080000, PDS:42.642151, di:1079, ds:1081
CH:18,CL:154, D970.212280, uk:0.347517, lk:1.000000, PDS:32.624146, di:1081, ds:1081
CH:10,CL:84, D1031.916260, uk:0.433217, lk:0.360000, PDS:28.339157, di:1080, ds:1081
CH:28,CL:87, D903.093872, uk:0.254297, lk:0.390000, PDS:37.285149, di:1081, ds:1081
CH:9,CL:110, D1041.536499, uk:0.446579, lk:0.620000, PDS:27.671082, di:1082, ds:1081
CH:12,CL:82, D1022.347107, uk:0.419926, lk:0.340000, PDS:29.003677, di:1081, ds:1081
CH:46,CL:191, D777.620544, uk:0.080029, lk:1.000000, PDS:45.998573, di:1082, ds:1081
CH:33,CL:82, D872.840515, uk:0.212279, lk:0.340000, PDS:39.386074, di:1083, ds:1081
CH:39,CL:55, D829.971008, uk:0.152737, lk:0.070000, PDS:42.363125, di:1081, ds:1083
CH:34,CL:83, D866.076904, uk:0.202885, lk:0.350000, PDS:39.855774, di:1083, ds:1083
CH:23,CL:71, D946.221863, uk:0.314197, lk:0.230000, PDS:34.290154, di:1082, ds:1083
CH:45,CL:50, D787.896362, uk:0.094301, lk:0.020000, PDS:45.284973, di:1080, ds:1082
CH:46,CL:68, D780.700684, uk:0.084307, lk:0.200000, PDS:45.784676, di:1082, ds:1082
CH:41,CL:72, D816.851868, uk:0.134517, lk:0.240000, PDS:43.274178, di:1083, ds:1082
CH:41,CL:73, D817.033325, uk:0.134769, lk:0.250000, PDS:43.261574, di:1084, ds:1082
CH:38,CL:77, D838.903320, uk:0.165144, lk:0.290000, PDS:41.742825, di:1085, ds:1082
CH:34,CL:61, D868.141785, uk:0.205753, lk:0.130000, PDS:39.712376, di:1084, ds:1082
CH:54,CL:90, D724.057556, uk:0.005636, lk:0.420000, PDS:49.718224, di:1085, ds:1082
CH:27,CL:66, D919.410095, uk:0.276959, lk:0.180000, PDS:36.152077, di:1084, ds:1082
CH:46,CL:170, D782.649048, uk:0.087013, lk:1.000000, PDS:45.649372, di:1085, ds:1082
CH:41,CL:74, D819.404968, uk:0.138063, lk:0.260000, PDS:43.096878, di:1086, ds:1082
CH:42,CL:71, D812.373474, uk:0.128297, lk:0.230000, PDS:43.585175, di:1087, ds:1082
CH:20,CL:75, D971.468994, uk:0.349263, lk:0.270000, PDS:32.536873, di:1086, ds:1082
CH:44,CL:50, D798.785645, uk:0.109425, lk:0.020000, PDS:44.528778, di:1084, ds:1086
CH:27,CL:67, D921.231018, uk:0.279488, lk:0.190000, PDS:36.025627, di:1084, ds:1086
CH:29,CL:127, D907.220947, uk:0.260029, lk:0.790000, PDS:36.998547, di:1085, ds:1086
CH:24,CL:70, D945.268555, uk:0.312873, lk:0.220000, PDS:34.356346, di:1084, ds:1086
CH:37,CL:57, D851.929932, uk:0.183236, lk:0.090000, PDS:40.838200, di:1083, ds:1086
CH:37,CL:56, D852.036865, uk:0.183385, lk:0.080000, PDS:40.830772, di:1081, ds:1083
CH:9,CL:87, D1053.973877, uk:0.463852, lk:0.390000, PDS:26.807373, di:1081, ds:1083
CH:30,CL:75, D903.531921, uk:0.254906, lk:0.270000, PDS:37.254726, di:1082, ds:1083
CH:46,CL:112, D788.390320, uk:0.094987, lk:0.640000, PDS:45.250671, di:1083, ds:1083
CH:28,CL:65, D919.372681, uk:0.276906, lk:0.170000, PDS:36.154675, di:1082, ds:1083
CH:24,CL:71, D948.613281, uk:0.317519, lk:0.230000, PDS:34.124077, di:1081, ds:1083
CH:30,CL:84, D905.860413, uk:0.258140, lk:0.360000, PDS:37.093025, di:1082, ds:1083
CH:82,CL:190, D530.138550, uk:-0.263696, lk:1.000000, PDS:63.184826, di:1083, ds:1083
CH:22,CL:75, D964.946533, uk:0.340203, lk:0.270000, PDS:32.989822, di:1082, ds:1083
CH:38,CL:56, D850.038147, uk:0.180609, lk:0.080000, PDS:40.969574, di:1080, ds:1082
CH:40,CL:54, D835.707214, uk:0.160705, lk:0.060000, PDS:41.964775, di:1078, ds:1080
CH:31,CL:85, D900.617371, uk:0.250858, lk:0.370000, PDS:37.457127, di:1080, ds:1080
CH:22,CL:72, D966.456360, uk:0.342301, lk:0.240000, PDS:32.884979, di:1079, ds:1080
CH:37,CL:57, D858.741516, uk:0.192697, lk:0.090000, PDS:40.365173, di:1078, ds:1080
CH:41,CL:53, D830.009521, uk:0.152791, lk:0.050000, PDS:42.360451, di:1076, ds:1078
CH:33,CL:83, D887.690491, uk:0.232904, lk:0.350000, PDS:38.354828, di:1078, ds:1078
CH:22,CL:73, D967.873352, uk:0.344269, lk:0.250000, PDS:32.786575, di:1077, ds:1078
CH:40,CL:55, D838.489380, uk:0.164569, lk:0.070000, PDS:41.771572, di:1075, ds:1077
CH:39,CL:55, D845.757385, uk:0.174663, lk:0.070000, PDS:41.266853, di:1073, ds:1075
CH:9,CL:87, D1062.052246, uk:0.475073, lk:0.390000, PDS:26.246376, di:1073, ds:1075
CH:32,CL:104, D897.126160, uk:0.246009, lk:0.560000, PDS:37.699574, di:1074, ds:1075
CH:45,CL:112, D803.707581, uk:0.116261, lk:0.640000, PDS:44.186974, di:1075, ds:1075
CH:30,CL:64, D912.951660, uk:0.267989, lk:0.160000, PDS:36.600578, di:1074, ds:1075
CH:25,CL:69, D949.349121, uk:0.318540, lk:0.210000, PDS:34.072975, di:1073, ds:1075
CH:30,CL:83, D913.757446, uk:0.269108, lk:0.350000, PDS:36.544621, di:1074, ds:1075
CH:47,CL:151, D791.395142, uk:0.099160, lk:1.000000, PDS:45.042007, di:1075, ds:1075
CH:21,CL:69, D981.511169, uk:0.363210, lk:0.210000, PDS:31.839500, di:1076, ds:1075
CH:31,CL:64, D909.896790, uk:0.263745, lk:0.160000, PDS:36.812721, di:1075, ds:1075
CH:23,CL:71, D967.928833, uk:0.344346, lk:0.230000, PDS:32.782722, di:1074, ds:1075
CH:29,CL:85, D925.200745, uk:0.285001, lk:0.370000, PDS:35.749947, di:1075, ds:1075
CH:65,CL:81, D665.321411, uk:-0.075942, lk:0.330000, PDS:53.797127, di:1076, ds:1075
CH:42,CL:92, D831.135315, uk:0.154355, lk:0.440000, PDS:42.282272, di:1077, ds:1075
CH:49,CL:85, D780.687683, uk:0.084289, lk:0.370000, PDS:45.785576, di:1078, ds:1075
CH:35,CL:61, D882.007202, uk:0.225010, lk:0.130000, PDS:38.749504, di:1077, ds:1075
CH:64,CL:90, D672.982544, uk:-0.065302, lk:0.420000, PDS:53.265102, di:1078, ds:1075
CH:25,CL:70, D954.825806, uk:0.326147, lk:0.220000, PDS:33.692650, di:1077, ds:1075
CH:63,CL:112, D680.869446, uk:-0.054348, lk:0.640000, PDS:52.717400, di:1078, ds:1075
CH:43,CL:70, D825.215027, uk:0.146132, lk:0.220000, PDS:42.693401, di:1079, ds:1075
CH:49,CL:86, D781.991272, uk:0.086099, lk:0.380000, PDS:45.695053, di:1080, ds:1075
CH:34,CL:61, D890.565857, uk:0.236897, lk:0.130000, PDS:38.155151, di:1079, ds:1075
CH:65,CL:90, D667.127197, uk:-0.073434, lk:0.420000, PDS:53.671722, di:1080, ds:1075
CH:24,CL:71, D963.415833, uk:0.338078, lk:0.230000, PDS:33.096123, di:1079, ds:1075
CH:101,CL:95, D443.823486, uk:-0.383578, lk:0.470000, PDS:69.178925, di:1080, ds:1075
CH:37,CL:78, D869.181885, uk:0.207197, lk:0.300000, PDS:39.640148, di:1081, ds:1075
CH:30,CL:64, D920.165039, uk:0.278007, lk:0.160000, PDS:36.099655, di:1080, ds:1075
CH:47,CL:80, D797.782349, uk:0.108031, lk:0.320000, PDS:44.598450, di:1081, ds:1075
CH:37,CL:98, D870.162476, uk:0.208559, lk:0.500000, PDS:39.572056, di:1082, ds:1075
CH:35,CL:60, D885.264526, uk:0.229534, lk:0.120000, PDS:38.523300, di:1081, ds:1075
CH:48,CL:106, D791.664490, uk:0.099534, lk:0.580000, PDS:45.023300, di:1082, ds:1075
CH:41,CL:73, D842.502991, uk:0.170143, lk:0.250000, PDS:41.492851, di:1083, ds:1075
CH:26,CL:68, D951.096985, uk:0.320968, lk:0.200000, PDS:33.951599, di:1082, ds:1075
CH:101,CL:190, D446.060211, uk:-0.380472, lk:1.000000, PDS:69.023598, di:1083, ds:1075
CH:37,CL:78, D872.048218, uk:0.211178, lk:0.300000, PDS:39.441097, di:1084, ds:1075
CH:32,CL:62, D908.566589, uk:0.261898, lk:0.140000, PDS:36.905098, di:1083, ds:1075
CH:47,CL:78, D800.581726, uk:0.111919, lk:0.300000, PDS:44.404049, di:1084, ds:1075
CH:37,CL:77, D872.938110, uk:0.212414, lk:0.290000, PDS:39.379299, di:1085, ds:1075
CH:35,CL:59, D887.745239, uk:0.232980, lk:0.110000, PDS:38.351028, di:1084, ds:1075
CH:49,CL:106, D786.933350, uk:0.092963, lk:0.580000, PDS:45.351852, di:1085, ds:1075
CH:40,CL:74, D852.234558, uk:0.183659, lk:0.260000, PDS:40.817047, di:1086, ds:1075
CH:27,CL:67, D946.424194, uk:0.314478, lk:0.190000, PDS:34.276100, di:1085, ds:1075
CH:83,CL:191, D542.505981, uk:-0.246519, lk:1.000000, PDS:62.325974, di:1086, ds:1075
CH:55,CL:78, D743.349976, uk:0.032430, lk:0.300000, PDS:48.378475, di:1087, ds:1075
CH:30,CL:64, D923.933228, uk:0.283241, lk:0.160000, PDS:35.837975, di:1086, ds:1075
CH:83,CL:82, D541.728394, uk:-0.247599, lk:0.340000, PDS:62.379974, di:1087, ds:1075
CH:56,CL:80, D735.834534, uk:0.021992, lk:0.320000, PDS:48.900383, di:1088, ds:1075
CH:31,CL:64, D916.422180, uk:0.272808, lk:0.160000, PDS:36.359573, di:1087, ds:1075
CH:83,CL:130, D541.417297, uk:-0.248031, lk:0.820000, PDS:62.401577, di:1088, ds:1075
CH:40,CL:74, D851.725830, uk:0.182953, lk:0.260000, PDS:40.852375, di:1089, ds:1075
CH:37,CL:56, D873.634705, uk:0.213382, lk:0.080000, PDS:39.330925, di:1087, ds:1089
CH:34,CL:80, D895.355713, uk:0.243550, lk:0.320000, PDS:37.822521, di:1089, ds:1089
CH:48,CL:106, D794.555603, uk:0.103550, lk:0.580000, PDS:44.822533, di:1090, ds:1089
CH:33,CL:61, D903.495178, uk:0.254855, lk:0.130000, PDS:37.257278, di:1089, ds:1089
CH:16,CL:79, D1026.344482, uk:0.425479, lk:0.310000, PDS:28.726082, di:1088, ds:1089
CH:64,CL:92, D680.208862, uk:-0.055265, lk:0.440000, PDS:52.763275, di:1089, ds:1089
CH:19,CL:76, D1005.586914, uk:0.396648, lk:0.280000, PDS:30.167580, di:1088, ds:1089
CH:32,CL:62, D912.470764, uk:0.267321, lk:0.140000, PDS:36.633976, di:1087, ds:1089
CH:33,CL:63, D905.497620, uk:0.257636, lk:0.150000, PDS:37.118221, di:1086, ds:1089
CH:15,CL:80, D1035.632202, uk:0.438378, lk:0.320000, PDS:28.081100, di:1085, ds:1089
CH:65,CL:89, D675.044678, uk:-0.062438, lk:0.410000, PDS:53.121899, di:1086, ds:1089
CH:38,CL:154, D869.887390, uk:0.208177, lk:1.000000, PDS:39.591156, di:1087, ds:1089
CH:24,CL:71, D973.279480, uk:0.351777, lk:0.230000, PDS:32.411148, di:1086, ds:1089
CH:101,CL:94, D453.687103, uk:-0.369879, lk:0.460000, PDS:68.493958, di:1087, ds:1089
CH:53,CL:80, D763.038757, uk:0.059776, lk:0.320000, PDS:47.011196, di:1088, ds:1089
CH:30,CL:64, D929.260803, uk:0.290640, lk:0.160000, PDS:35.468002, di:1087, ds:1089
CH:10,CL:86, D1073.917480, uk:0.491552, lk:0.380000, PDS:25.422401, di:1086, ds:1089
CH:31,CL:103, D923.415100, uk:0.282521, lk:0.550000, PDS:35.873955, di:1087, ds:1089
CH:83,CL:95, D546.936157, uk:-0.240366, lk:0.470000, PDS:62.018322, di:1088, ds:1089
CH:38,CL:97, D871.443726, uk:0.210339, lk:0.490000, PDS:39.483078, di:1089, ds:1089
CH:36,CL:58, D886.478760, uk:0.231221, lk:0.100000, PDS:38.438976, di:1088, ds:1089
CH:29,CL:65, D937.083984, uk:0.301506, lk:0.170000, PDS:34.924728, di:1087, ds:1089
CH:29,CL:86, D937.432800, uk:0.301990, lk:0.380000, PDS:34.900505, di:1088, ds:1089
CH:101,CL:172, D453.062866, uk:-0.370746, lk:1.000000, PDS:68.537300, di:1089, ds:1089
CH:38,CL:77, D871.742920, uk:0.210754, lk:0.290000, PDS:39.462299, di:1090, ds:1089
CH:31,CL:63, D922.675293, uk:0.281493, lk:0.150000, PDS:35.925331, di:1089, ds:1089
CH:46,CL:88, D814.707703, uk:0.131539, lk:0.400000, PDS:43.423080, di:1090, ds:1089
CH:53,CL:158, D764.091736, uk:0.061239, lk:1.000000, PDS:46.938072, di:1091, ds:1089
CH:31,CL:64, D924.327698, uk:0.283789, lk:0.160000, PDS:35.810577, di:1090, ds:1089
CH:30,CL:86, D931.838745, uk:0.294221, lk:0.380000, PDS:35.288979, di:1091, ds:1089
CH:22,CL:72, D990.505798, uk:0.375703, lk:0.240000, PDS:31.214874, di:1090, ds:1089
CH:30,CL:64, D933.372314, uk:0.296351, lk:0.160000, PDS:35.182480, di:1089, ds:1089
CH:30,CL:64, D933.683411, uk:0.296783, lk:0.160000, PDS:35.160873, di:1088, ds:1089
CH:42,CL:52, D847.387085, uk:0.176927, lk:0.040000, PDS:41.153675, di:1086, ds:1088
CH:33,CL:61, D912.251892, uk:0.267017, lk:0.130000, PDS:36.649174, di:1086, ds:1088
CH:54,CL:90, D760.967651, uk:0.056900, lk:0.420000, PDS:47.155029, di:1087, ds:1088
CH:42,CL:73, D847.639832, uk:0.177278, lk:0.250000, PDS:41.136124, di:1088, ds:1088
CH:39,CL:76, D869.482788, uk:0.207615, lk:0.280000, PDS:39.619255, di:1089, ds:1088
CH:32,CL:83, D920.366577, uk:0.278287, lk:0.350000, PDS:36.085655, di:1090, ds:1088
CH:36,CL:59, D892.020264, uk:0.238917, lk:0.110000, PDS:38.054150, di:1089, ds:1088
CH:40,CL:55, D863.315308, uk:0.199049, lk:0.070000, PDS:40.047550, di:1087, ds:1089
CH:35,CL:79, D899.413574, uk:0.249186, lk:0.310000, PDS:37.540730, di:1089, ds:1089
CH:11,CL:86, D1073.452271, uk:0.490906, lk:0.380000, PDS:25.454704, di:1088, ds:1089
CH:35,CL:79, D901.185852, uk:0.251647, lk:0.310000, PDS:37.417648, di:1089, ds:1089
CH:46,CL:91, D822.052856, uk:0.141740, lk:0.430000, PDS:42.912994, di:1090, ds:1089
CH:30,CL:64, D938.088745, uk:0.302901, lk:0.160000, PDS:34.854950, di:1089, ds:1089
CH:31,CL:63, D931.182434, uk:0.293309, lk:0.150000, PDS:35.334557, di:1088, ds:1089
CH:20,CL:74, D1010.836060, uk:0.403939, lk:0.260000, PDS:29.803055, di:1087, ds:1089
CH:15,CL:80, D1047.762695, uk:0.455226, lk:0.320000, PDS:27.238701, di:1086, ds:1089
CH:26,CL:68, D969.323059, uk:0.346282, lk:0.200000, PDS:32.685898, di:1085, ds:1089
CH:39,CL:56, D875.917480, uk:0.216552, lk:0.080000, PDS:39.172398, di:1083, ds:1085
CH:29,CL:66, D948.081604, uk:0.316780, lk:0.180000, PDS:34.161003, di:1083, ds:1085
CH:46,CL:89, D825.720520, uk:0.146834, lk:0.410000, PDS:42.658298, di:1084, ds:1085
CH:50,CL:106, D796.831970, uk:0.106711, lk:0.580000, PDS:44.664448, di:1085, ds:1085
CH:35,CL:59, D905.646301, uk:0.257842, lk:0.110000, PDS:37.107895, di:1084, ds:1085
CH:46,CL:168, D826.470032, uk:0.147875, lk:1.000000, PDS:42.606247, di:1085, ds:1085
CH:20,CL:74, D1016.694031, uk:0.412075, lk:0.260000, PDS:29.396248, di:1084, ds:1085
CH:44,CL:49, D844.006287, uk:0.172231, lk:0.010000, PDS:41.388451, di:1082, ds:1084
CH:38,CL:57, D887.217163, uk:0.232246, lk:0.090000, PDS:38.387699, di:1082, ds:1084
CH:33,CL:83, D923.362915, uk:0.282449, lk:0.350000, PDS:35.877579, di:1083, ds:1084
CH:27,CL:127, D967.356750, uk:0.343551, lk:0.790000, PDS:32.822449, di:1084, ds:1084
CH:16,CL:78, D1049.286987, uk:0.457343, lk:0.300000, PDS:27.132851, di:1083, ds:1084
CH:32,CL:82, D934.605408, uk:0.298063, lk:0.340000, PDS:35.096848, di:1084, ds:1084
CH:8,CL:110, D1108.874146, uk:0.540103, lk:0.620000, PDS:22.994850, di:1085, ds:1084
CH:46,CL:89, D835.408142, uk:0.160289, lk:0.410000, PDS:41.985546, di:1086, ds:1084
CH:32,CL:83, D936.916565, uk:0.301273, lk:0.350000, PDS:34.936348, di:1087, ds:1084
CH:17,CL:77, D1046.088379, uk:0.452901, lk:0.290000, PDS:27.354980, di:1086, ds:1084
CH:20,CL:75, D1025.365356, uk:0.424119, lk:0.270000, PDS:28.794075, di:1085, ds:1084
CH:26,CL:81, D982.806885, uk:0.365010, lk:0.330000, PDS:31.749519, di:1086, ds:1084
CH:101,CL:93, D477.096161, uk:-0.337366, lk:0.450000, PDS:66.868324, di:1087, ds:1084
CH:54,CL:159, D779.204529, uk:0.082229, lk:1.000000, PDS:45.888573, di:1088, ds:1084
CH:34,CL:60, D924.716553, uk:0.284329, lk:0.120000, PDS:35.783577, di:1087, ds:1084
PDS: Positive Duty Setting in %
Thanks,
John
Richard,
Some of my comments were regarding the DCL guide from 2015 - I was using GOOG and it brought up that version vs. the version from last fall - Nov. 2017 - but:
I haven't been able to find C - just assembly language for the PID code. I did find C in some of the older control suite releases.
Thanks,
John W.
Richard,
OK - I will move on to tuning then - I'll try the FastRTS lib - I'll do the NL then go back to the Linear (C4) - see if I can tune that and then move back to the NL PID.
I have a few corner cases with the HRCAP registers - when it is on the edge of reading a value (this is on the other side of an ECL AND Gate) - I can get very large readings that are inaccurate in the HRCAP CLK counts; so I'm either going to saturate and/or just skip that reading when it happens - other than that things are running pretty well based on what I'm seeing now.
I thought you are going to have a tuning FAQ/Guide for me to take a look at?
Also - thanks for letting me know about the seminars - I hope I can be at one of them and am looking forward to the book!
Regards,
John
Richard,
Here's what I have for DCL_NLPID.h - note there is no powf() being called by the inline c-code; so, should I be using another version of this?
/* DCL_NLPID.h - non-linear PID controller
*
* Copyright (C) 2017 Texas Instruments Incorporated - http://www.ti.com/
* ALL RIGHTS RESERVED
*/
#ifndef _C_DCL_NLPID_H
#define _C_DCL_NPLID_H
//! \file DCL_NLPID.h
//! \brief Contains the public interface to the
//! non-linear PID controller functions
#include <math.h>
//--- Non-linear PID controller -----------------------------------------------
//! \brief Defines the non-linear PID controller structure
//!
typedef volatile struct {
float32_t Kp; //!< Linear proportional gain
float32_t Ki; //!< Linear integral gain
float32_t Kd; //!< Linear derivative gain
float32_t alpha_p; //!< P path non-linear exponent
float32_t alpha_i; //!< I path non-linear exponent
float32_t alpha_d; //!< D path non-linear exponent
float32_t delta_p; //!< P path linearized range
float32_t delta_i; //!< I path linearized range
float32_t delta_d; //!< D path linearized range
float32_t gamma_p; //!< P path gain limit
float32_t gamma_i; //!< I path gain limit
float32_t gamma_d; //!< D path gain limit
float32_t c1; //!< D path filter coefficient 1
float32_t c2; //!< D path filter coefficient 2
float32_t d2; //!< D path filter intermediate storage 1
float32_t d3; //!< D path filter intermediate storage 2
float32_t i7; //!< I path intermediate storage
float32_t i16; //!< Intermediate saturation storage
float32_t Umax; //!< Upper saturation limit
float32_t Umin; //!< Lower saturation limit
} DCL_NLPID;
//! \brief Defines default values to initialise the DCL_NLPID structure
//!
#define NLPID_DEFAULTS { 1.0f, 0.0f, 0.0f, \
1.0f, 1.0f, 1.0f, \
0.1f, 0.1f, 0.1f, \
1.0f, 1.0f, 1.0f, \
0.0f, 0.0f, \
0.0f, 0.0f, \
0.0f, 0.0f, \
1.0f, -1.0f }
//! \brief Executes a non-linear PID controller on the FPU32
//! \param[in] p Pointer to the DCL_NLPID structure
//! \param[in] rk The controller set-point reference
//! \param[in] yk The measured feedback value
//! \param[in] lk External output clamp flag
//! \return The control effort
//!
static inline float32_t DCL_runNLPID_C1(DCL_NLPID *p, float32_t rk, float32_t yk, float32_t lk)
{
float32_t v1, v2, v3, v4, v5, v8, v9, v10, v12, v13, v14, v15;
// pre-conditioning block
v1 = rk - yk;
v2 = (v1 < 0.0f) ? -1.0f : 1.0f;
v3 = abs(v1);
// proportional path
v4 = ((v3 > p->delta_p) ? (v2 * (float32_t) pow(v3, p->alpha_p)) : (v1 * p->gamma_p));
// integral path
v5 = ((v3 > p->delta_i) ? (v2 * (float32_t) pow(v3, p->alpha_i)) : (v1 * p->gamma_i));
v8 = (v5 * p->Kp * p->Ki * p->i16) + p->i7;
p->i7 = v8;
// derivative path
v9 = ((v3 > p->delta_d) ? (v2 * (float32_t) pow(v3, p->alpha_d)) : (v1 * p->gamma_d));
v10 = v9 * p->Kd * p->c1;
v12 = v10 - p->d2 - p->d3;
p->d2 = v10;
p->d3 = v12 * p->c2;
// output sum & clamp
v13 = (p->Kp * (v4 + v12)) + v8;
v14 = (v13 > p->Umax) ? p->Umax : v13;
v14 = (v14 < p->Umin) ? p->Umin : v14;
v15 = (v14 == v13) ? 1.0f : 0.0f;
p->i16 = v15 * lk;
return v14;
}
//! \brief Computes the linearised gains for each path
//! \param[in] p Pointer to the DCL_NLPID structure
//!
static inline void DCL_setGamma(DCL_NLPID *p)
{
p->gamma_p = (float32_t) pow(p->delta_p, (p->alpha_p - 1.0f));
p->gamma_i = (float32_t) pow(p->delta_i, (p->alpha_i - 1.0f));
p->gamma_d = (float32_t) pow(p->delta_d, (p->alpha_d - 1.0f));
}
#endif // _C_DCL_NLPID_H
/* end of file */
And here is the FastRTS.h include file that's in:
X:\ti\c2000\C2000Ware_1_00_04_00\libraries\math\FPUfastRTS\c28\include
// TI File $Revision: /main/2 $
// Checkin $Date: July 10, 2008 16:11:44 $
//###########################################################################
// This software is licensed for use with Texas Instruments C28x
// family DSCs. This license was provided to you prior to installing
// the software. You may review this license by consulting a copy of
// the agreement in the doc directory of this library.
// ------------------------------------------------------------------------
// Copyright (C) 2007 Texas Instruments, Incorporated.
// All Rights Reserved.
// ==========================================================================
//
// FILE: C28x_FPU_FastRTS.h
//
// TITLE: Prototypes and Definitions for the C28x Fast RTS Library
//
// DESCRIPTION:
//
// These prototypes are for functions not found in the standard
// RTS library.
//
// For standard functions, include the appropriate header file as
// usual. For example: math.h
//
//###########################################################################
// $TI Release: C28x FPU fastRTS Library V1.00 $
// $Release Date: August 6, 2008 $
//###########################################################################
#ifndef C28X_FPU_FAST_RTS_H
#define C28X_FPU_FAST_RTS_H
#ifdef __cplusplus
extern "C" {
#endif
//-----------------------------------------------------------------------------
// Standard C28x Data Types
//-----------------------------------------------------------------------------
#ifndef DSP28_DATA_TYPES
#define DSP28_DATA_TYPES
typedef int int16;
typedef long int32;
typedef long long int64;
typedef unsigned int Uint16;
typedef unsigned long Uint32;
typedef unsigned long long Uint64;
typedef float float32;
typedef long double float64;
#endif
//-----------------------------------------------------------------------------
// Function Prototypes
//-----------------------------------------------------------------------------
float32 isqrt(float32 X);
void sincos(float32 radian, float32* PtrSin, float32* PtrCos);
//-----------------------------------------------------------------------------
//
//-----------------------------------------------------------------------------
#ifdef __cplusplus
}
#endif /* extern "C" */
#endif // - end of C28X_FPU_FAST_RTS_H
//===========================================================================
// End of file.
//===========================================================================
So, apparently, the lib and powf() function you are referring to are not what I have current access to regarding the TMS320F28069 resources I currently have.
Thanks,
John
And, some data with the NLPID (still largely 'untuned') at 500mS rate:
CH:46,CL:51, D991.178955, uk:-0.376637, lk:0.460000, PDC:31.168137, DC:5
CH:45,CL:50, D980.685730, uk:-0.362064, lk:0.450000, PDC:31.896828, DC:1 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:49, D970.177551, uk:-0.347469, lk:0.460000, PDC:32.626564, DC:2 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:50, D980.729065, uk:-0.362124, lk:0.450000, PDC:31.893822, DC:3 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:50, D980.757568, uk:-0.362163, lk:0.450000, PDC:31.891838, DC:4 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:48, D959.712830, uk:-0.332934, lk:0.460000, PDC:33.353279, DC:5 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:50, D980.786743, uk:-0.362204, lk:0.460000, PDC:31.889816, DC:1 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:49, D970.278931, uk:-0.347610, lk:0.460000, PDC:32.619522, DC:2 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:49, D970.293457, uk:-0.347630, lk:0.460000, PDC:32.618515, DC:3 <:!:=>PHASE LOCK<=:!:>
CH:44,CL:50, D980.845032, uk:-0.362285, lk:0.440000, PDC:31.885765, DC:4
CH:45,CL:49, D970.336548, uk:-0.347690, lk:0.450000, PDC:32.615517, DC:5 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:49, D970.350769, uk:-0.347709, lk:0.450000, PDC:32.614532, DC:1 <:!:=>PHASE LOCK<=:!:>
CH:44,CL:50, D980.901672, uk:-0.362363, lk:0.440000, PDC:31.881836, DC:2
CH:46,CL:51, D991.465881, uk:-0.377036, lk:0.460000, PDC:31.148209, DC:3
CH:44,CL:51, D991.509583, uk:-0.377097, lk:0.440000, PDC:31.145172, DC:4
CH:44,CL:50, D981.015076, uk:-0.362521, lk:0.440000, PDC:31.873962, DC:5
CH:46,CL:49, D970.506653, uk:-0.347926, lk:0.460000, PDC:32.603714, DC:1 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:48, D959.984253, uk:-0.333311, lk:0.460000, PDC:33.334427, DC:2 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:49, D970.521179, uk:-0.347946, lk:0.460000, PDC:32.602675, DC:1
CH:45,CL:49, D971.223877, uk:-0.348922, lk:0.450000, PDC:32.553902, DC:2 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:49, D971.238098, uk:-0.348942, lk:0.460000, PDC:32.552917, DC:3 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:50, D981.789612, uk:-0.363597, lk:0.460000, PDC:31.820175, DC:4 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:49, D971.281799, uk:-0.349003, lk:0.450000, PDC:32.549881, DC:5 <:!:=>PHASE LOCK<=:!:>
CH:47,CL:50, D981.832703, uk:-0.363657, lk:0.470000, PDC:31.817177, DC:1 <:!:=>PHASE LOCK<=:!:>
CH:47,CL:50, D981.862488, uk:-0.363698, lk:0.470000, PDC:31.815109, DC:2 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:49, D971.354980, uk:-0.349104, lk:0.460000, PDC:32.544800, DC:3 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:49, D971.369507, uk:-0.349124, lk:0.460000, PDC:32.543793, DC:4 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:50, D981.921082, uk:-0.363779, lk:0.450000, PDC:31.811043, DC:5 <:!:=>PHASE LOCK<=:!:>
CH:47,CL:49, D971.412964, uk:-0.349185, lk:0.470000, PDC:32.540771, DC:1 <:!:=>PHASE LOCK<=:!:>
CH:44,CL:50, D981.965027, uk:-0.363840, lk:0.440000, PDC:31.807991, DC:2
CH:46,CL:51, D992.529236, uk:-0.378513, lk:0.460000, PDC:31.074364, DC:3
CH:46,CL:48, D960.962097, uk:-0.334670, lk:0.460000, PDC:33.266525, DC:4 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:50, D982.036011, uk:-0.363939, lk:0.460000, PDC:31.803062, DC:5 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:50, D982.065125, uk:-0.363979, lk:0.450000, PDC:31.801041, DC:1 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:49, D971.557068, uk:-0.349385, lk:0.460000, PDC:32.530762, DC:2 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:49, D971.571533, uk:-0.349405, lk:0.450000, PDC:32.529762, DC:3 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:49, D971.585815, uk:-0.349425, lk:0.460000, PDC:32.528763, DC:4 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:49, D971.600403, uk:-0.349445, lk:0.450000, PDC:32.527756, DC:5 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:50, D982.151306, uk:-0.364099, lk:0.450000, PDC:31.795052, DC:1 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:50, D982.179810, uk:-0.364139, lk:0.450000, PDC:31.793076, DC:2 <:!:=>PHASE LOCK<=:!:>
CH:44,CL:49, D971.671631, uk:-0.349544, lk:0.440000, PDC:32.522812, DC:3
CH:44,CL:50, D982.221924, uk:-0.364197, lk:0.440000, PDC:31.790146, DC:4
CH:45,CL:50, D982.249817, uk:-0.364236, lk:0.450000, PDC:31.788216, DC:5 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:49, D971.741577, uk:-0.349641, lk:0.460000, PDC:32.517952, DC:1 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:49, D971.756165, uk:-0.349661, lk:0.450000, PDC:32.516937, DC:2 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:50, D982.307068, uk:-0.364315, lk:0.450000, PDC:31.784233, DC:3 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:50, D982.335571, uk:-0.364355, lk:0.450000, PDC:31.782257, DC:4 <:!:=>PHASE LOCK<=:!:>
CH:44,CL:50, D982.364075, uk:-0.364395, lk:0.440000, PDC:31.780281, DC:5
CH:46,CL:51, D992.928284, uk:-0.379067, lk:0.460000, PDC:31.046654, DC:1
CH:46,CL:48, D961.361145, uk:-0.335224, lk:0.460000, PDC:33.238815, DC:2 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:50, D982.435059, uk:-0.364493, lk:0.460000, PDC:31.775352, DC:3 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:49, D971.927124, uk:-0.349899, lk:0.450000, PDC:32.505066, DC:4 <:!:=>PHASE LOCK<=:!:>
CH:44,CL:50, D982.478149, uk:-0.364553, lk:0.440000, PDC:31.772354, DC:5
CH:46,CL:50, D982.505981, uk:-0.364592, lk:0.460000, PDC:31.770416, DC:1 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:51, D993.072021, uk:-0.379267, lk:0.460000, PDC:31.036667, DC:2
CH:46,CL:50, D982.578796, uk:-0.364693, lk:0.460000, PDC:31.765366, DC:3 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:48, D961.534058, uk:-0.335464, lk:0.460000, PDC:33.226807, DC:4 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:50, D982.607910, uk:-0.364733, lk:0.450000, PDC:31.763344, DC:5 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:50, D982.636414, uk:-0.364773, lk:0.450000, PDC:31.761368, DC:1 <:!:=>PHASE LOCK<=:!:>
CH:47,CL:49, D972.128357, uk:-0.350178, lk:0.470000, PDC:32.491089, DC:2 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:50, D986.266357, uk:-0.369814, lk:0.450000, PDC:31.509285, DC:5 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:50, D986.294861, uk:-0.369854, lk:0.460000, PDC:31.507309, DC:1 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:48, D965.250061, uk:-0.340625, lk:0.460000, PDC:32.968750, DC:2 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:50, D986.323975, uk:-0.369894, lk:0.450000, PDC:31.505280, DC:3 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:49, D975.815796, uk:-0.355300, lk:0.450000, PDC:32.235023, DC:4 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:50, D986.366699, uk:-0.369954, lk:0.460000, PDC:31.502319, DC:5 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:48, D965.321960, uk:-0.340725, lk:0.460000, PDC:32.963760, DC:1 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:48, D965.321960, uk:-0.340725, lk:0.450000, PDC:32.963760, DC:2 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:50, D986.395203, uk:-0.369993, lk:0.450000, PDC:31.500336, DC:3 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:48, D965.350464, uk:-0.340764, lk:0.460000, PDC:32.961777, DC:4 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:48, D965.350464, uk:-0.340764, lk:0.450000, PDC:32.961777, DC:5 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:50, D986.423706, uk:-0.370033, lk:0.450000, PDC:31.498360, DC:1 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:51, D996.988831, uk:-0.384707, lk:0.460000, PDC:30.764671, DC:2
CH:47,CL:50, D986.495544, uk:-0.370133, lk:0.470000, PDC:31.493370, DC:3 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:49, D975.988037, uk:-0.355539, lk:0.460000, PDC:32.223061, DC:4 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:48, D965.465637, uk:-0.340925, lk:0.460000, PDC:32.953781, DC:5 <:!:=>PHASE LOCK<=:!:>
CH:47,CL:50, D986.539673, uk:-0.370194, lk:0.470000, PDC:31.490303, DC:1 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:49, D976.032104, uk:-0.355600, lk:0.450000, PDC:32.219994, DC:2 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:49, D976.046326, uk:-0.355620, lk:0.450000, PDC:32.219009, DC:3 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:50, D986.597229, uk:-0.370274, lk:0.460000, PDC:31.486305, DC:4 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:48, D965.552490, uk:-0.341045, lk:0.460000, PDC:32.947746, DC:5 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:49, D976.089417, uk:-0.355680, lk:0.450000, PDC:32.216019, DC:1 <:!:=>PHASE LOCK<=:!:>
CH:47,CL:49, D976.103638, uk:-0.355700, lk:0.470000, PDC:32.215027, DC:2 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:48, D965.581238, uk:-0.341085, lk:0.450000, PDC:32.945755, DC:3 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:49, D976.117920, uk:-0.355719, lk:0.450000, PDC:32.214043, DC:4 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:49, D976.132141, uk:-0.355739, lk:0.450000, PDC:32.213051, DC:5 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:48, D965.609741, uk:-0.341125, lk:0.460000, PDC:32.943771, DC:1 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:48, D965.609741, uk:-0.341125, lk:0.450000, PDC:32.943771, DC:2 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:50, D986.683044, uk:-0.370393, lk:0.450000, PDC:31.480347, DC:3 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:49, D976.174927, uk:-0.355798, lk:0.460000, PDC:32.210075, DC:4 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:51, D997.263306, uk:-0.385088, lk:0.460000, PDC:30.745605, DC:5
CH:45,CL:50, D986.770203, uk:-0.370514, lk:0.450000, PDC:31.474297, DC:1 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:49, D976.261963, uk:-0.355919, lk:0.450000, PDC:32.204033, DC:2 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:50, D986.812927, uk:-0.370573, lk:0.460000, PDC:31.471329, DC:3 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:48, D965.768127, uk:-0.341345, lk:0.460000, PDC:32.932770, DC:4 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:48, D965.768127, uk:-0.341345, lk:0.460000, PDC:32.932770, DC:5 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:49, D976.305054, uk:-0.355979, lk:0.450000, PDC:32.201042, DC:1 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:50, D986.855957, uk:-0.370633, lk:0.460000, PDC:31.468338, DC:2 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:50, D986.885132, uk:-0.370674, lk:0.460000, PDC:31.466316, DC:3 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:48, D965.840271, uk:-0.341445, lk:0.460000, PDC:32.927765, DC:4 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:48, D965.840271, uk:-0.341445, lk:0.460000, PDC:32.927765, DC:5 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:50, D986.914185, uk:-0.370714, lk:0.450000, PDC:31.464294, DC:1 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:49, D976.406067, uk:-0.356120, lk:0.450000, PDC:32.194023, DC:2 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:49, D976.420288, uk:-0.356139, lk:0.450000, PDC:32.193039, DC:3 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:50, D986.971191, uk:-0.370793, lk:0.460000, PDC:31.460342, DC:4 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:48, D965.926453, uk:-0.341565, lk:0.460000, PDC:32.921776, DC:5 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:48, D965.926453, uk:-0.341565, lk:0.450000, PDC:32.921776, DC:1 <:!:=>PHASE LOCK<=:!:>
CH:44,CL:50, D986.999695, uk:-0.370833, lk:0.440000, PDC:31.458359, DC:2
CH:45,CL:50, D987.027588, uk:-0.370872, lk:0.450000, PDC:31.456421, DC:3 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:49, D976.519409, uk:-0.356277, lk:0.460000, PDC:32.186157, DC:4 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:48, D965.997131, uk:-0.341663, lk:0.460000, PDC:32.916870, DC:5 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:49, D976.533997, uk:-0.356297, lk:0.460000, PDC:32.185143, DC:1 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:49, D976.548584, uk:-0.356317, lk:0.450000, PDC:32.184128, DC:2 <:!:=>PHASE LOCK<=:!:>
CH:44,CL:50, D987.099426, uk:-0.370972, lk:0.440000, PDC:31.451431, DC:3
CH:44,CL:50, D987.127319, uk:-0.371010, lk:0.440000, PDC:31.449493, DC:4
CH:45,CL:50, D987.155212, uk:-0.371049, lk:0.450000, PDC:31.447563, DC:5 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:49, D976.647034, uk:-0.356454, lk:0.460000, PDC:32.177292, DC:1 <:!:=>PHASE LOCK<=:!:>
CH:46,CL:49, D976.661682, uk:-0.356474, lk:0.460000, PDC:32.176277, DC:2 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:49, D976.676147, uk:-0.356495, lk:0.450000, PDC:32.175270, DC:3 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:49, D976.690430, uk:-0.356515, lk:0.450000, PDC:32.174278, DC:4 <:!:=>PHASE LOCK<=:!:>
CH:45,CL:50, D987.241394, uk:-0.371169, lk:0.450000, PDC:31.441574, DC:5 <:!:=>PHASE LOCK<=:!:>
Regards,
John
John,
Sorry for the delay getting back. This is a rare week when I'm travelling on business.
Thanks for the data and glad to see you're making progress. Actually the controllers don't care what the sample rate is. The parameters used in the examples were taken from Matlab simulations I used to verify them. In DCL v3 there is a small Simulink block-set and a PID simulation model, and I seem to recall the sample rate used in testing was mostly 10ms but I tried several different rates.
Regarding the powf() function, it is a recent addition to FastRTS so it's possible the release at the end of the month may be the first to carry it. Let me check that and get back to you.
Regards,
Richard
Hello Richard,
I have downloaded the new v5 of C2000 Ware.
Looks like there are lots of new utility functions which of course is good. And I see the new 64-bit FP PID.
And there are two versions of the Non-Linear PID now. But I'm wondering if I really need to have set-point
weighting or not since it's obviously important; and in my system things go non-linear rather quickly (within
1 or 2 cycle counts) if the system is able to drift too far from the SP. You can almost think of it as setting the
horizontal sync on an old NTSC TV set.
I was wondering what your ideas may be regarding the PID until we get the new powf() implementation.
Thanks!
John
Richard,
Due to excessive probing, I had unwittingly lifted a few pins on my main PWM driver; so that would explain why the NL PIDs weren't looking so good not to mention I had missed the new sps structure members and am now making sure I'm not missing anything in the css department.
I missed all of these:
nlpid1.sps->Kp = 3.5f;
nlpid1.sps->Ki = 0.004f;
nlpid1.sps->Kd = 0.35f;
nlpid1.sps->alpha_p = 0.8f;
nlpid1.sps->alpha_i = 0.95f;
nlpid1.sps->alpha_d = 1.0f;
nlpid1.sps->delta_p = 0.15f;
nlpid1.sps->delta_i = 0.15f;
nlpid1.sps->delta_d = 0.15f;
nlpid1.i7 = 0.0f;
nlpid1.i16 = 0.0f;
nlpid1.d2 = 0.0f;
nlpid1.d3 = 0.0f;
nlpid1.sps->c1 = 151.7093985989552f;
nlpid1.sps->c2 = 0.517093985989552f;
nlpid1.sps->Umax = 0.31f;
nlpid1.sps->Umin = -0.27f;
I'll report back.
Interesting though - when I fixed the PWM issue; the NL PID - version - C1 got stuck - the PWM duty percent was in the ~30% positive or so but it just stuck there - then I noticed I missed all of the new sps members.
Regards,
John
John,
With this NL law it's best to have the input normalized so the alpha parameter controls the 'bending' in each path (see attachment). With alpha > 1 the gain increases quickly with x. My guess is you have this situation in at least one path. For the linear controllers you can use absolute valued inputs, but for the NL controller it's different.
Regards,
Richard
Richard,
Some open loop testing - I have r(k) fixed at 0.48 and am varying y(k) from 0.99 to 0.00 - using NLPID C1:
CH:31,CL:63, D1141.346313, uk:0.585203, lk:0.700000, PDC:20.739838, DC:1 EF:0, rk:0.480000, yk:0.000000
CH:27,CL:70, D360.000000, uk:-0.500000, lk:0.700000, PDC:75.000000, DC:2 EF:0, rk:0.480000, yk:0.990000
CH:36,CL:61, D360.000000, uk:-0.500000, lk:0.700000, PDC:75.000000, DC:3 EF:0, rk:0.480000, yk:0.980000
CH:45,CL:49, D360.000000, uk:-0.500000, lk:0.700000, PDC:75.000000, DC:4 EF:0, rk:0.480000, yk:0.970000
CH:32,CL:63, D360.000000, uk:-0.500000, lk:0.700000, PDC:75.000000, DC:5 EF:0, rk:0.480000, yk:0.960000
CH:18,CL:77, D360.000000, uk:-0.500000, lk:0.700000, PDC:75.000000, DC:1 EF:0, rk:0.480000, yk:0.950000
CH:102,CL:90, D360.000000, uk:-0.500000, lk:0.700000, PDC:75.000000, DC:2 EF:0, rk:0.480000, yk:0.940000
CH:7,CL:87, D360.000000, uk:-0.500000, lk:0.700000, PDC:75.000000, DC:3 EF:0, rk:0.480000, yk:0.930000
CH:21,CL:74, D366.706940, uk:-0.490685, lk:0.700000, PDC:74.534241, DC:4 EF:0, rk:0.480000, yk:0.920000
CH:34,CL:60, D372.606140, uk:-0.482492, lk:0.700000, PDC:74.124573, DC:5 EF:0, rk:0.480000, yk:0.910000
CH:46,CL:48, D378.556946, uk:-0.474226, lk:0.700000, PDC:73.711319, DC:1 EF:0, rk:0.480000, yk:0.900000
CH:34,CL:61, D384.560486, uk:-0.465888, lk:0.700000, PDC:73.294411, DC:2 EF:0, rk:0.480000, yk:0.890000
CH:20,CL:74, D390.617615, uk:-0.457476, lk:0.700000, PDC:72.873779, DC:3 EF:0, rk:0.480000, yk:0.880000
CH:8,CL:89, D396.729431, uk:-0.448987, lk:0.700000, PDC:72.449348, DC:4 EF:0, rk:0.480000, yk:0.870000
CH:101,CL:95, D402.897034, uk:-0.440421, lk:0.700000, PDC:72.021042, DC:5 EF:0, rk:0.480000, yk:0.860000
CH:16,CL:79, D409.121460, uk:-0.431776, lk:0.700000, PDC:71.588791, DC:1 EF:0, rk:0.480000, yk:0.850000
CH:29,CL:64, D415.404053, uk:-0.423050, lk:0.700000, PDC:71.152496, DC:2 EF:0, rk:0.480000, yk:0.840000
CH:42,CL:55, D421.746094, uk:-0.414242, lk:0.700000, PDC:70.712082, DC:3 EF:0, rk:0.480000, yk:0.830000
CH:42,CL:55, D428.148956, uk:-0.405349, lk:0.700000, PDC:70.267433, DC:4 EF:0, rk:0.480000, yk:0.820000
CH:28,CL:66, D434.614075, uk:-0.396369, lk:0.700000, PDC:69.818466, DC:5 EF:0, rk:0.480000, yk:0.810000
CH:16,CL:78, D441.143036, uk:-0.387301, lk:0.700000, PDC:69.365067, DC:1 EF:0, rk:0.480000, yk:0.800000
CH:7,CL:94, D447.737488, uk:-0.378142, lk:0.700000, PDC:68.907120, DC:2 EF:0, rk:0.480000, yk:0.790000
CH:100,CL:91, D454.399292, uk:-0.368890, lk:0.700000, PDC:68.444496, DC:3 EF:0, rk:0.480000, yk:0.780000
CH:16,CL:79, D461.130280, uk:-0.359541, lk:0.700000, PDC:67.977066, DC:4 EF:0, rk:0.480000, yk:0.770000
CH:29,CL:68, D467.932617, uk:-0.350094, lk:0.700000, PDC:67.504684, DC:5 EF:0, rk:0.480000, yk:0.760000
CH:40,CL:57, D474.808380, uk:-0.340544, lk:0.700000, PDC:67.027199, DC:1 EF:0, rk:0.480000, yk:0.750000
CH:46,CL:50, D481.760101, uk:-0.330889, lk:0.700000, PDC:66.544441, DC:2 EF:0, rk:0.480000, yk:0.740000
CH:33,CL:61, D488.790405, uk:-0.321124, lk:0.700000, PDC:66.056229, DC:3 EF:0, rk:0.480000, yk:0.730000
CH:23,CL:71, D495.902039, uk:-0.311247, lk:0.700000, PDC:65.562363, DC:4 EF:0, rk:0.480000, yk:0.720000
CH:13,CL:81, D503.098114, uk:-0.301253, lk:0.700000, PDC:65.062637, DC:5 EF:0, rk:0.480000, yk:0.710000
CH:101,CL:95, D510.382141, uk:-0.291136, lk:0.700000, PDC:64.556793, DC:1 EF:0, rk:0.480000, yk:0.700000
CH:101,CL:95, D517.757690, uk:-0.280892, lk:0.700000, PDC:64.044601, DC:2 EF:0, rk:0.480000, yk:0.690000
CH:14,CL:78, D525.228943, uk:-0.270515, lk:0.700000, PDC:63.525768, DC:3 EF:0, rk:0.480000, yk:0.680000
CH:29,CL:67, D532.800598, uk:-0.259999, lk:0.700000, PDC:62.999962, DC:4 EF:0, rk:0.480000, yk:0.670000
CH:38,CL:57, D540.477600, uk:-0.249337, lk:0.700000, PDC:62.466835, DC:5 EF:0, rk:0.480000, yk:0.660000
CH:47,CL:48, D548.265686, uk:-0.238520, lk:0.700000, PDC:61.925995, DC:1 EF:0, rk:0.480000, yk:0.650000
CH:39,CL:56, D556.171448, uk:-0.227540, lk:0.700000, PDC:61.376987, DC:2 EF:0, rk:0.480000, yk:0.640000
CH:30,CL:66, D614.068115, uk:-0.147128, lk:0.700000, PDC:57.356384, DC:3 EF:0, rk:0.480000, yk:0.630000
CH:23,CL:72, D620.985840, uk:-0.137520, lk:0.700000, PDC:56.875984, DC:4 EF:0, rk:0.480000, yk:0.620000
CH:13,CL:79, D627.923767, uk:-0.127884, lk:0.700000, PDC:56.394188, DC:5 EF:0, rk:0.480000, yk:0.610000
CH:7,CL:88, D634.881897, uk:-0.118220, lk:0.700000, PDC:55.910980, DC:1 EF:0, rk:0.480000, yk:0.600000
CH:102,CL:94, D641.860107, uk:-0.108528, lk:0.700000, PDC:55.426384, DC:2 EF:0, rk:0.480000, yk:0.590000
CH:100,CL:88, D648.858521, uk:-0.098808, lk:0.700000, PDC:54.940384, DC:3 EF:0, rk:0.480000, yk:0.580000
CH:12,CL:84, D655.877075, uk:-0.089060, lk:0.700000, PDC:54.452984, DC:4 EF:0, rk:0.480000, yk:0.570000
CH:18,CL:77, D662.915771, uk:-0.079284, lk:0.700000, PDC:53.964188, DC:5 EF:0, rk:0.480000, yk:0.560000
CH:24,CL:71, D669.974609, uk:-0.069480, lk:0.700000, PDC:53.473988, DC:1 EF:0, rk:0.480000, yk:0.550000
CH:32,CL:64, D677.053711, uk:-0.059648, lk:0.700000, PDC:52.982384, DC:2 EF:0, rk:0.480000, yk:0.540000
CH:38,CL:57, D684.152893, uk:-0.049788, lk:0.700000, PDC:52.489384, DC:3 EF:0, rk:0.480000, yk:0.530000
CH:42,CL:52, D691.272278, uk:-0.039900, lk:0.700000, PDC:51.994984, DC:4 EF:0, rk:0.480000, yk:0.520000
CH:47,CL:49, D698.411804, uk:-0.029984, lk:0.700000, PDC:51.499184, DC:5 EF:0, rk:0.480000, yk:0.510000
CH:40,CL:56, D705.571411, uk:-0.020040, lk:0.700000, PDC:51.001987, DC:1 EF:0, rk:0.480000, yk:0.500000
CH:36,CL:61, D712.751282, uk:-0.010068, lk:0.700000, PDC:50.503384, DC:2 EF:0, rk:0.480000, yk:0.490000
CH:29,CL:65, D719.951294, uk:-0.000068, lk:0.700000, PDC:50.003387, DC:3 EF:0, rk:0.480000, yk:0.480000 <==
CH:24,CL:70, D727.171387, uk:0.009960, lk:0.700000, PDC:49.501991, DC:4 EF:0, rk:0.480000, yk:0.470000
CH:20,CL:74, D734.411743, uk:0.020016, lk:0.700000, PDC:48.999191, DC:5 EF:0, rk:0.480000, yk:0.460000
CH:15,CL:79, D741.672241, uk:0.030100, lk:0.700000, PDC:48.494987, DC:1 EF:0, rk:0.480000, yk:0.450000
CH:10,CL:85, D748.952942, uk:0.040212, lk:0.700000, PDC:47.989380, DC:2 EF:0, rk:0.480000, yk:0.440000
CH:102,CL:89, D756.253662, uk:0.050352, lk:0.700000, PDC:47.482388, DC:3 EF:0, rk:0.480000, yk:0.430000
CH:102,CL:95, D763.574707, uk:0.060520, lk:0.700000, PDC:46.973980, DC:4 EF:0, rk:0.480000, yk:0.420000
CH:102,CL:192, D763.574707, uk:0.060520, lk:0.960000, PDC:46.973980, DC:5 EF:1, rk:0.480000, yk:0.410000
CH:100,CL:96, D778.135986, uk:0.080744, lk:0.700000, PDC:45.962780, DC:1 EF:0, rk:0.480000, yk:0.400000
CH:9,CL:88, D785.517395, uk:0.090996, lk:0.700000, PDC:45.450188, DC:2 EF:0, rk:0.480000, yk:0.390000
CH:12,CL:83, D792.919006, uk:0.101276, lk:0.700000, PDC:44.936188, DC:3 EF:0, rk:0.480000, yk:0.380000
CH:15,CL:80, D800.340698, uk:0.111584, lk:0.700000, PDC:44.420792, DC:4 EF:0, rk:0.480000, yk:0.370000
CH:17,CL:77, D807.782654, uk:0.121920, lk:0.700000, PDC:43.903988, DC:5 EF:0, rk:0.480000, yk:0.360000
CH:20,CL:74, D815.244751, uk:0.132284, lk:0.700000, PDC:43.385784, DC:1 EF:0, rk:0.480000, yk:0.350000
CH:24,CL:70, D822.726990, uk:0.142676, lk:0.700000, PDC:42.866180, DC:2 EF:0, rk:0.480000, yk:0.340000
CH:27,CL:67, D830.229370, uk:0.153096, lk:0.700000, PDC:42.345184, DC:3 EF:0, rk:0.480000, yk:0.330000
CH:28,CL:66, D888.781921, uk:0.234419, lk:0.700000, PDC:38.279037, DC:4 EF:0, rk:0.480000, yk:0.320000
CH:30,CL:65, D897.415649, uk:0.246411, lk:0.700000, PDC:37.679470, DC:5 EF:0, rk:0.480000, yk:0.310000
CH:32,CL:65, D905.973633, uk:0.258297, lk:0.700000, PDC:37.085171, DC:1 EF:0, rk:0.480000, yk:0.300000
CH:33,CL:62, D914.462219, uk:0.270086, lk:0.700000, PDC:36.495686, DC:2 EF:0, rk:0.480000, yk:0.290000
CH:32,CL:62, D922.886902, uk:0.281787, lk:0.700000, PDC:35.910637, DC:3 EF:0, rk:0.480000, yk:0.280000
CH:33,CL:61, D931.252991, uk:0.293407, lk:0.700000, PDC:35.329659, DC:4 EF:0, rk:0.480000, yk:0.270000
CH:34,CL:63, D939.564697, uk:0.304951, lk:0.700000, PDC:34.752457, DC:5 EF:0, rk:0.480000, yk:0.260000
CH:34,CL:63, D947.826050, uk:0.316425, lk:0.700000, PDC:34.178749, DC:1 EF:0, rk:0.480000, yk:0.250000
CH:33,CL:62, D956.040833, uk:0.327835, lk:0.700000, PDC:33.608284, DC:2 EF:0, rk:0.480000, yk:0.240000
CH:32,CL:62, D964.212280, uk:0.339184, lk:0.700000, PDC:33.040817, DC:3 EF:0, rk:0.480000, yk:0.230000
CH:31,CL:64, D972.343445, uk:0.350477, lk:0.700000, PDC:32.476151, DC:4 EF:0, rk:0.480000, yk:0.220000
CH:30,CL:65, D980.436890, uk:0.361718, lk:0.700000, PDC:31.914108, DC:5 EF:0, rk:0.480000, yk:0.210000 <==
CH:31,CL:65, D988.495544, uk:0.372910, lk:0.700000, PDC:31.354485, DC:1 EF:0, rk:0.480000, yk:0.200000
CH:29,CL:65, D996.521301, uk:0.384057, lk:0.700000, PDC:30.797134, DC:2 EF:0, rk:0.480000, yk:0.190000
CH:27,CL:68, D1004.516602, uk:0.395162, lk:0.700000, PDC:30.241905, DC:3 EF:0, rk:0.480000, yk:0.180000
CH:26,CL:68, D1012.483459, uk:0.406227, lk:0.700000, PDC:29.688652, DC:4 EF:0, rk:0.480000, yk:0.170000
CH:26,CL:72, D1020.423462, uk:0.417255, lk:0.700000, PDC:29.137268, DC:5 EF:0, rk:0.480000, yk:0.160000
CH:22,CL:72, D1028.338623, uk:0.428248, lk:0.700000, PDC:28.587601, DC:1 EF:0, rk:0.480000, yk:0.150000
CH:21,CL:73, D1036.230347, uk:0.439209, lk:0.700000, PDC:28.039566, DC:2 EF:0, rk:0.480000, yk:0.140000
CH:18,CL:77, D1044.100220, uk:0.450139, lk:0.700000, PDC:27.493042, DC:3 EF:0, rk:0.480000, yk:0.130000
CH:15,CL:79, D1051.949707, uk:0.461041, lk:0.700000, PDC:26.947937, DC:4 EF:0, rk:0.480000, yk:0.120000
CH:15,CL:82, D1059.780029, uk:0.471917, lk:0.700000, PDC:26.404167, DC:5 EF:0, rk:0.480000, yk:0.110000
CH:11,CL:86, D1067.592529, uk:0.482767, lk:0.700000, PDC:25.861633, DC:1 EF:0, rk:0.480000, yk:0.100000
CH:7,CL:88, D1075.388184, uk:0.493595, lk:0.700000, PDC:25.320267, DC:2 EF:0, rk:0.480000, yk:0.090000
CH:100,CL:97, D1083.168335, uk:0.504400, lk:0.700000, PDC:24.779984, DC:3 EF:0, rk:0.480000, yk:0.080000
CH:101,CL:95, D1090.933960, uk:0.515186, lk:0.700000, PDC:24.240700, DC:4 EF:0, rk:0.480000, yk:0.070000
CH:101,CL:94, D1098.686035, uk:0.525953, lk:0.700000, PDC:23.702362, DC:5 EF:0, rk:0.480000, yk:0.060000
CH:102,CL:96, D1106.425415, uk:0.536702, lk:0.700000, PDC:23.164902, DC:1 EF:0, rk:0.480000, yk:0.050000
CH:8,CL:87, D1114.152954, uk:0.547435, lk:0.700000, PDC:22.628273, DC:2 EF:0, rk:0.480000, yk:0.040000
CH:12,CL:83, D1121.869629, uk:0.558152, lk:0.700000, PDC:22.092392, DC:3 EF:0, rk:0.480000, yk:0.030000
CH:17,CL:78, D1129.576294, uk:0.568856, lk:0.700000, PDC:21.557205, DC:4 EF:0, rk:0.480000, yk:0.020000
CH:21,CL:74, D1137.273560, uk:0.579547, lk:0.700000, PDC:21.022675, DC:5 EF:0, rk:0.480000, yk:0.010000
CH:26,CL:70, D1144.962158, uk:0.590225, lk:0.700000, PDC:20.488747, DC:1 EF:0, rk:0.480000, yk:0.000000
CH:29,CL:66, D360.000000, uk:-0.500000, lk:0.700000, PDC:75.000000, DC:2 EF:0, rk:0.480000, yk:0.990000
Thanks,
John
John,
Thank you for the data. So, the sign of y is inverted relative to that of u. Is that correct?
Also, it looks like l(k) is at 0.7 - am I reading that correctly?
Regards,
Richard
John,
Something looks wrong with this data. The plots below are the -uk & yk data from your last post. Notice the steps in -uk. Also, why should yk change when -uk is static?
Regards,
Richard
