PI tunning in Longitudinal driver block
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In PID controller we have liberty to tune the PID gain values. But in case of Longitudinal driver, how can we adjust the PI gain values without tunning?
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Jason Rodgers
2021 年 10 月 15 日
There currently is not an automated tuning process for this block. Easiest way to tune is to follow typical PI tuning approach. Set I gain to 0 and tune P gain until good tracking. Lower this value a bit and start increasing intergral gain until low tracking error. It is not possible to have 0 tracking error due to the nature of the plant but this will come close. The predictive driver may be a little easier as you can parameterize it with values similar to what is in the plant.
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