PID Regelung: Unterschied zwischen den Versionen

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=Abstract=
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Ardumower uses a digital PID controller for
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* heading/course tracking
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* perimeter tracking
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* motor speed control
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* ...
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=PID controller=
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<gallery>
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  File: Pid_controller.png | PID controller
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</gallery>
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Examples:
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# Tracking: input sensor is inside/outside, output plant is the left and right motor. Goal is to keep error (inside/outside state time) small.
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# Motor speed: input sensor is odometry, output plant is the motor. Goal is to keep the error (setpoint rpm - actual rpm) small.
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=PID settings=
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The optimal P,I,D parameters depend on the actual hardware. One method is trial & error (it can be difficult to find them):
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# Increase P until system starts to oscillate
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# Set I=0.6 * P and D = 0.125 * P
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Proportional, Integral and Derivative (PID) controller concept:
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P : Determines how aggressively the PID reacts to the current amount of error (Proportional)
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D : Determines how aggressively the PID reacts to the change in error (Derivative)
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I : Determines how aggressively the PID reacts to error over time (Integral)
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<gallery>
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  File: Pid_controller_examples.png| Different P,I,D parameters and their outcome
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</gallery>
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=Velocity PID=
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The standard form is most used for position control. If you derivate the standard form, you obtain the velocity form:
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<gallery>
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File: Ardumower pid controller.png | velocity PID
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</gallery>
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=Simulator=
 
=Simulator=
Für interaktives Lernen gibt es hier einen PID-Simulator: [http://www.grauonline.de/alexwww/ardumower/pid/pid.html PID Simulator]
+
For interactive learning, you can find a PID simulator here: [http://www.grauonline.de/alexwww/ardumower/pid/pid.html PID simulator]

Version vom 29. Mai 2016, 11:36 Uhr

Abstract

Ardumower uses a digital PID controller for

  • heading/course tracking
  • perimeter tracking
  • motor speed control
  • ...

PID controller

Examples:

  1. Tracking: input sensor is inside/outside, output plant is the left and right motor. Goal is to keep error (inside/outside state time) small.
  2. Motor speed: input sensor is odometry, output plant is the motor. Goal is to keep the error (setpoint rpm - actual rpm) small.

PID settings

The optimal P,I,D parameters depend on the actual hardware. One method is trial & error (it can be difficult to find them):

  1. Increase P until system starts to oscillate
  2. Set I=0.6 * P and D = 0.125 * P

Proportional, Integral and Derivative (PID) controller concept:

P : Determines how aggressively the PID reacts to the current amount of error (Proportional) 
D : Determines how aggressively the PID reacts to the change in error (Derivative) 
I : Determines how aggressively the PID reacts to error over time (Integral)

Velocity PID

The standard form is most used for position control. If you derivate the standard form, you obtain the velocity form:

Simulator

For interactive learning, you can find a PID simulator here: PID simulator