calc_gains
Purpose:
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Compute control loop gains after auto-tuning. The completion of the autotune processes produces 3 outputs listed below. The calc_gains utility takes these 3 input values and produces recommended P, I, and D gains that can be inserted into the ctrl_specs file.
Enter:
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calc_gains
Respond to prompts with the following information that was generated by the ctrl_task after autotune processs. See usage for ‘autotune’.
Where:
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ku Specify ultimate gain. cyc Specify the number of cycles. sec Specify the time for cycles.
Example:
Notes:
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The following output will be printed:
The aggressive gains for this control loop are:
Proportional =
Integral =
Derivative =The conservative gains for this control loop are:
Proportional =
Integral =
Derivative =