{"id":318,"date":"2019-02-10T15:10:48","date_gmt":"2019-02-10T20:10:48","guid":{"rendered":"https:\/\/my.dev.vanderbilt.edu\/forcebasedprosthesiscontroller\/?p=318"},"modified":"2019-02-10T15:11:30","modified_gmt":"2019-02-10T20:11:30","slug":"318","status":"publish","type":"post","link":"https:\/\/my.dev.vanderbilt.edu\/forcebasedprosthesiscontroller\/2019\/02\/318\/","title":{"rendered":"PID Observations"},"content":{"rendered":"<p><em><strong>PID Observations\u00a0<\/strong><\/em><\/p>\n<p><strong>General behavior Characteristics: <\/strong><\/p>\n<ul>\n<li>Higher Proportional Control = Operates at defined setpoint\n<ul>\n<li>Higher fraction control here to force the fight between muscle activation and relaxed hand posture<\/li>\n<\/ul>\n<\/li>\n<li>Lower Proportional Control = Infinite rise in output value (operating in the single digits results in 10^6 outputs)<\/li>\n<li>Higher Integral Control = Infinite rise in value although smoother slope established\n<ul>\n<li>The rise in output value must be counteracted either by a negative slope or much higher fraction of Proportional Control<\/li>\n<\/ul>\n<\/li>\n<li>Higher Fraction Differential Control = More exact value output (realistic to given input)\n<ul>\n<li>Most Exact control Here<\/li>\n<\/ul>\n<\/li>\n<li>Lower Fraction Differential Control = Less sine wave characteristics\n<ul>\n<li>Take the different in maximum amplitude within sliding window rather than the absolute given value to control the influence of the sine wave and the possible flutter<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p><strong>Coded PID Characteristics:<\/strong><\/p>\n<ul>\n<li>Tested with two different step functions and several sine wave inputs<\/li>\n<li>Varied control across the three error schemes<\/li>\n<li>Have defined set point of 0.5 to observe behavior<\/li>\n<li>Finite loop that will be adjusted to operate in the sliding window that will later be defined<\/li>\n<\/ul>\n<p><strong>Needed for Code Improvement: <\/strong><\/p>\n<ul>\n<li>A break that defines the maximum amplitude in a window: once that is reached abort the loop and maintain this position until the maximum\/minimum is redefined<\/li>\n<\/ul>\n<p><strong>Most Promising Output with Defined Constants General Control System:<\/strong><\/p>\n<ul>\n<li>Proportional : Integral : Differential = 1:0.008:0.5<\/li>\n<li>Code in proportional change to prevent fluttering and exit loop when max. reached<\/li>\n<\/ul>\n<p>*Output images blocked for upload, code with outputs updated in Github platform<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>PID Observations\u00a0 General behavior Characteristics: Higher Proportional Control = Operates at defined setpoint Higher fraction control here to force the fight between muscle activation and relaxed hand posture Lower Proportional Control = Infinite rise in output value (operating in the single digits results in 10^6 outputs) Higher Integral Control = Infinite rise in value although&#8230;<\/p>\n","protected":false},"author":7955,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3],"tags":[],"class_list":["post-318","post","type-post","status-publish","format-standard","hentry","category-notebook"],"_links":{"self":[{"href":"https:\/\/my.dev.vanderbilt.edu\/forcebasedprosthesiscontroller\/wp-json\/wp\/v2\/posts\/318","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/my.dev.vanderbilt.edu\/forcebasedprosthesiscontroller\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/my.dev.vanderbilt.edu\/forcebasedprosthesiscontroller\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/my.dev.vanderbilt.edu\/forcebasedprosthesiscontroller\/wp-json\/wp\/v2\/users\/7955"}],"replies":[{"embeddable":true,"href":"https:\/\/my.dev.vanderbilt.edu\/forcebasedprosthesiscontroller\/wp-json\/wp\/v2\/comments?post=318"}],"version-history":[{"count":2,"href":"https:\/\/my.dev.vanderbilt.edu\/forcebasedprosthesiscontroller\/wp-json\/wp\/v2\/posts\/318\/revisions"}],"predecessor-version":[{"id":320,"href":"https:\/\/my.dev.vanderbilt.edu\/forcebasedprosthesiscontroller\/wp-json\/wp\/v2\/posts\/318\/revisions\/320"}],"wp:attachment":[{"href":"https:\/\/my.dev.vanderbilt.edu\/forcebasedprosthesiscontroller\/wp-json\/wp\/v2\/media?parent=318"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/my.dev.vanderbilt.edu\/forcebasedprosthesiscontroller\/wp-json\/wp\/v2\/categories?post=318"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/my.dev.vanderbilt.edu\/forcebasedprosthesiscontroller\/wp-json\/wp\/v2\/tags?post=318"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}