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Autopilot Installation Manual
4.2
Autopilot Settings
Figure 11:
Selection of an autopilot control loop.
Once loop was selected, a tune window appears. This window allows changing
the PID controller parameters and observing the response at the same time.
Figure 12 illustrates the example.
Figure 12:
An example of roll loop tuning window.
The
Ref.
represents the loop target value. The target value is changed and
airplane response is observed in the chart. The target is drawn in magenta
color and the response is in yellow.
P
,
I
and
D
terms are controller terms. The controller tries to reduce an error
between a target (magenta) value and an actual value (yellow). Error is a
difference between target and actual value.
P term
defines controller’s proportional (gain) part.
I term
defines controller’s integral (cumulative) part.
D term
defines controller’s derivative (rate of change) part.
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Kanardia
2016-2020
Содержание Kanardia
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