From 74c77461425a0770f8328f1e8b4cff92f847a642 Mon Sep 17 00:00:00 2001 From: Musab Erdem Date: Mon, 22 Jul 2024 11:09:36 +0200 Subject: [PATCH] Optimierung der LSP Schnittstelle --- Beispiel Kennlinien/02_sprungantworten.txt | 30 + Data.csv | 855 ++++++++++++++++++++- conf.txt | 2 +- main.py | 6 +- 4 files changed, 884 insertions(+), 9 deletions(-) create mode 100644 Beispiel Kennlinien/02_sprungantworten.txt diff --git a/Beispiel Kennlinien/02_sprungantworten.txt b/Beispiel Kennlinien/02_sprungantworten.txt new file mode 100644 index 0000000..337f6fd --- /dev/null +++ b/Beispiel Kennlinien/02_sprungantworten.txt @@ -0,0 +1,30 @@ +0;0 +4.9;0 +5;5 +9.9;5 +10;7 +14.9;7 +15;10 +19.9;10 +20;12 +24.9;12 +25;15 +29.9;15 +30;17 +34.9;17 +35;15 +39.9;15 +40;12 +44.9;12 +45;10 +49.9;10 +50;7 +54.9;7 +55;5 +59.9;5 +60;0 +69.9;0 +70;15 +79.9;15 +80;0 +90;0 diff --git a/Data.csv b/Data.csv index 73eb0a5..9ece70d 100644 --- a/Data.csv +++ b/Data.csv @@ -1,8 +1,853 @@ Kp 0,110 -Ki 0,080 +Ki 0,090 Kd 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2,267 2,705 8,349 +140,338 84,312 2,267 2,524 8,463 +140,519 84,420 2,267 2,570 8,470 +140,689 84,510 2,078 2,689 8,362 +140,869 84,654 2,078 2,762 8,095 +141,039 84,744 2,078 2,731 8,089 +141,219 84,870 2,078 2,726 8,019 +141,398 84,960 2,078 2,726 8,000 +141,579 85,068 1,889 2,803 7,702 +141,749 85,158 1,889 2,982 7,575 +141,918 85,248 1,889 3,073 7,314 +142,089 85,374 1,889 2,918 7,295 +142,268 85,464 1,889 2,939 7,283 +142,448 85,590 1,700 2,917 6,997 +142,619 85,716 1,700 2,822 6,952 +142,797 85,842 1,700 2,749 6,933 +142,969 86,004 1,511 2,553 6,952 +143,139 86,112 1,511 2,447 6,902 +143,318 86,220 1,511 2,467 6,781 +143,489 86,310 1,511 2,658 6,616 +143,669 86,436 1,511 2,604 6,432 +143,840 86,598 1,322 2,398 6,362 +144,019 86,778 1,322 2,177 6,463 +144,189 86,940 1,322 1,983 6,495 +144,369 87,084 1,133 1,895 6,400 +144,541 87,192 1,133 1,979 6,254 +144,722 87,300 1,133 2,017 6,140 +144,889 87,372 1,133 2,102 6,000 +145,068 87,480 1,133 2,130 5,949 +145,243 87,588 0,944 2,121 5,670 +145,419 87,714 0,944 2,143 5,587 +145,597 87,822 0,944 2,065 5,498 +145,769 87,912 0,944 2,181 5,390 +145,938 88,038 0,756 2,179 5,079 +146,109 88,146 0,756 2,247 4,902 +146,288 88,290 0,756 2,143 4,813 +146,469 88,416 0,756 2,082 4,787 +146,646 88,542 0,567 2,017 4,546 +146,808 88,686 0,567 1,893 4,483 +146,979 88,776 0,567 2,001 4,356 +147,158 88,902 0,567 1,810 4,298 +147,348 88,992 0,567 2,000 4,133 +147,527 89,118 0,378 1,980 3,810 +147,699 89,244 0,378 1,928 3,752 +147,868 89,388 0,378 1,741 3,721 +148,039 89,532 0,189 1,624 3,689 +148,218 89,658 0,189 1,568 3,454 +148,389 89,802 0,189 1,437 3,410 +148,569 89,910 0,189 1,358 3,403 +148,742 90,018 0,000 1,446 3,302 diff --git a/conf.txt b/conf.txt index b652212..838c917 100644 --- a/conf.txt +++ b/conf.txt @@ -5,7 +5,7 @@ } 227C-024-15 PID_Regler 2{ Kp:0.11 - Ki:0.08 + Ki:0.09 Kd:0.00 } 227C-024-15 I-Regler{ diff --git a/main.py b/main.py index a7a26cc..d53002a 100644 --- a/main.py +++ b/main.py @@ -449,8 +449,6 @@ class ArduinoGUI: if command == 'a': message = f"{self.current_angle};{self.current_torque};{self.analogInput};{self.currentSetpoint};{self.currentOutput}\n" self.ser.write(message.encode()) - while self.ser.out_waiting: - pass if command == 'w': self.tare_angle() if command == 'u': @@ -459,7 +457,9 @@ class ArduinoGUI: outCommand = F"u{string}u\n" self.arduino.write(outCommand.encode()) time.sleep(0.1) - + + while self.ser.out_waiting: + pass self.ser.read_all() except Exception as e: print(e)