New answers tagged pid-control
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If the response is really a ramp, i.e., a single integrator, you could use a P or PI controller.
If the ship has some mass to her, then the ship's turn does not start or stop immediately -- rudder position exerts a torque. That would make the system a double-integrator. So the step response is not really a ramp but rather would accelerate. In addition, ...
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A couple things can help here:
if you want to control the desired yaw velocity of the boat, I suggest not using the yaw angle as output, but the yaw velocity.
if you want to control the absolute yaw angle of the boat (i.e. using a compass as reference), your rudder should not maintain a certain angle.
If you however do want to control the rudder angle using ...
4
Maybe?
Without knowing ourselves anything about the system you have, it's mostly impossible for us to be able to answer the question.
However, I can say that in general it is certainly possible to consider the inner (stable) control loop to be continuous (namely fast enough) that you could simply consider it part of your system, and run an outer control loop ...
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Self learning controllers are a dangerous topic. This is mostly because a large bit of the data you collect is noise. Separating noise from the actual important signal is never feasible. This means that if you would alter your PID parameters automatically based on data, you will most likely reduce performance and in the worst case even lose stability.
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