# Difference between revisions of "PID control"

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Alexanderg (Talk | contribs) (→PID controller) |
Alexanderg (Talk | contribs) (→PID controller) |
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Proportional, Integral and Derivative (PID) controller concept: | Proportional, Integral and Derivative (PID) controller concept: | ||

− | P : control gain (too high value produces oscillation, too low value | + | P : control gain (too high value produces oscillation, too low value not sufficient control) |

D : to reduce over-shooting | D : to reduce over-shooting | ||

I : reduce small error left by P-only | I : reduce small error left by P-only |

## Revision as of 00:19, 27 May 2015

# Abstract

Ardumower uses a digital PID controller for

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

# PID controller

Proportional, Integral and Derivative (PID) controller concept:

P : control gain (too high value produces oscillation, too low value not sufficient control) D : to reduce over-shooting I : reduce small error left by P-only

# Velocity PID

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