Just to clarify to others what l'm doing via non linear CMD, the spread sheet (excel 2010) attached shows linear rudder CMD, with the non linear result beside the linear.
So you can see when say a linear 10 degrees of rudder is asked for at /70 = 11.4, /50 = 12, /40=12.5, /30 = 13.3 so not alot of CMD (CV) different at minior CMD's, but when more rudder CMD is required the non linear result quickly gives full 45 degree rudder at /70 = 31 /50 = 29, /40 = 27, /30 = 25. I actual use the /30 in my AP.
So do PLC's PID have non linear ability or built in as standard and are they doing anything else that maybe an improvement over mine which l could incorporate?
If not then PID's are pretty straight forward/basic when you understand them and not some magic in a function block.
I will admit that l'm nearly as passionate about AP's as Peter is about Motion Controllers.
So you can see when say a linear 10 degrees of rudder is asked for at /70 = 11.4, /50 = 12, /40=12.5, /30 = 13.3 so not alot of CMD (CV) different at minior CMD's, but when more rudder CMD is required the non linear result quickly gives full 45 degree rudder at /70 = 31 /50 = 29, /40 = 27, /30 = 25. I actual use the /30 in my AP.
So do PLC's PID have non linear ability or built in as standard and are they doing anything else that maybe an improvement over mine which l could incorporate?
If not then PID's are pretty straight forward/basic when you understand them and not some magic in a function block.
I will admit that l'm nearly as passionate about AP's as Peter is about Motion Controllers.