Hi,
I have read the articles on PD controller and understood the basics but I am not able to figure out what constants I have to use for Kp and Kd. My system is as follows (it is a computer animation):
I have three bars representing the lower leg, upper leg and the torso of a human body. Each of these bars have weight 1kg and have dimensions of 0.2 width and 5.0 height. The torso is connected to the upper leg with a hinge and the hinge is at the lower left corner of torso (which is the upper left corner of the upper leg). There is a similar hinge between upper leg and the lower leg (at the corresponding position). The lower leg is attached to the ground using a hinge at the lower left corner of the lower leg. I want to control the angles of these bars using a PD controller (there will be a PD controller for each hinge). I am not able to figure out a logical way of getting the Kd and Kp constants for each of the controllers (I have been selecting the constants randomly) and my system is not working.
Is there any way of logically finding the constants which solve my purpose or if someone has done this kind of simulation before, can you suggest a better way of choosing the constants?
Thanks Jeevan.