Hi Hoang,
It seems like the issue you are facing arises from the mismatch between the sampling rates of your system components. It can arise due to following reasons:
- Your Simulink model expects data updates every 10ms, but the encoder only provides updates every 100ms. This can lead to inaccurate control signals from the PID controller.
- Simulations run in sync, but real-time systems experience delays due to hardware, causing mismatches in behaviour.
You can follow the below suggestions to resolve the issue:
1. Increase Sample Time in Simulink:
Set the Simulink model's sample time to 100ms to match the encoder. This synchronizes the model with the encoder data.
2. Implement Data Interpolation:
Use interpolation (e.g., linear interpolation) to estimate encoder values between updates, allowing Simulink to work with estimated data at 10ms.
3.Tune the PID Controller for Real-Time:
Re-tune the PID controller to account for the slower 100ms data updates. Use less aggressive parameters to improve real-time performance.
