Hi,
I created a thread covering part of this subject back in September but after having read more about controllers I'm a bit more confidential with the terms used in the "controller world" besides having more specific data of my system and therefore I thought that starting from scratch creating a new thread would be better. I got the book from Tim Wescott since then so it is possible to reference to it if needed.
The task is to control a shaker table (a very small one ~20N max):
1) The command curve (deflection) is within the frequency range from about 0.1 Hz to 60Hz. 2) The curve lenght is up to about 60s max. 3) The sensor is a DC accelerometer - there is no deflection sensor attached (not possible) so the feedback signal is therefore a double integrated acceleration. 4) The sample frequency is 4000 Hz.I'm a novice within control theory and the control loop is just a necessary part of the entire project so I have decided to try with a PID loop as the first shoot.
-I've been suggested to use a leaky integrator in order to avoid accumulation of DC error but how to make a leaky integrator (any references)?
-What sort of PID would you recommend (where to place the propertional part)?
-How should i tune the PID parameters correctly (I would like to use an auto tune algorithem)?
Thanks for any comment! Ole