Table 5 Gain values for different control schemes
Loop | Output parameter | Gain parameters | PID + switching | BFO + switching | ||
|---|---|---|---|---|---|---|
Lower boundary | Calculated gain | Upper boundary | ||||
Loop 1 | \(\theta\) | Kp 1 | 80 | −50 | −1.733 | 50 |
Kd 1 | 9 | −10 | −0.0693 | 10 | ||
Ki 1 | 0.02 | −0.1 | 0.0835 | 0.1 | ||
Loop 2 | \(\delta_{\text{R}}\) | Kp 2 | 80 | −20 | 10.255 | 20 |
Kd 2 | 75 | −20 | 0.016 | 20 | ||
Ki 2 | 0.05 | −20 | 15.05 | 20 | ||
Loop 3 | \(\delta_{\text{L}}\) | Kp 3 | 80 | −20 | 10.255 | 20 |
Kd 3 | 75 | −20 | 0.016 | 20 | ||
Ki 3 | 0.05 | −20 | 15.05 | 20 | ||
Loop 4 | \(h_{1}\) | Kp 4 | 8 | −20 | 10.3279 | 20 |
Kd 4 | 10 | −10 | 7.3378 | 10 | ||
Ki 4 | 0.01 | −0.1 | 0.013 | 0.1 | ||
Loop 5 | \(h_{2}\) | Kp 5 | 27 | −60 | 50.1502 | 60 |
Kd 5 | 32 | −50 | 30.7237 | 50 | ||
Ki 5 | 0.05 | −0.1 | 0.027 | 0.1 | ||