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Re: [PSUBS-MAILIST] dive plane control scheme
Thanks Rick. Yeah - I know about PID controllers, but actually, this
would all work with proportional only control, apart from the rate
control for avoiding target depth overshoot. That could be PID, but I
wonder if doing some tests and establishing a lookup table would be more
robust? PID would be well suited for controlling the ballast system,
though. There are applications out there which purport to determine the
optimum tuning for any PID system, which might be a better route than
trial and error. Do you have any experience with this? Rather than
using distributed control, I was thinking that all systems might be
controlled by a central computer with a backup, since those are required
anyway for other navigation functions, cameras, etc. I don't know what
the relative expense would be, but maybe there are important reasons for
going distributed? I don't know - I'm a mechanical guy, and my controls
background is limited. Also, I wonder if individual servomotors might
be a viable alternative to a high pressure hydraulic pump and four
actuators? Higher initial expense but less current draw, perhaps?
Good thoughts.
-Sean
rick miller wrote:
Sean:
The control system that you describe could be implemented with a
plc that has pid controllers built in to the software.a pid controller
varies its output based upon the speed at which the change to the set
point is happening , the distance from the set point and the and the
time that the system has been away from the set point. Pid stands for
proportional, integral, derivative. Extreame care should be taken when
tuning these controllers as they can become unstable durring tuning
and run away.
ebaying some used parts and software you would be able to do this
control system under about 5000.00$. The only trick is to use a
precharged resivor that is in excess of the operational depth of the
sub. That allows for the hyd rams to be placed out side the hull.
There are several types of feed back systems that you could use. The
best for this application would be a feed back system for a rotary
actuator that could be place into a oil filled casing, side wire would
be the cheapest
rick m
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