PID control: Unterschied zwischen den Versionen
Aus www.wiki.ardumower.de
(→PID controller) |
(→PID controller) |
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Zeile 12: | Zeile 12: | ||
P : control gain (too high value produces oscillation, too low value not sufficient control) | P : control gain (too high value produces oscillation, too low value not sufficient control) | ||
− | D : to reduce over-shooting | + | D : to reduce over-shooting/adds damping |
I : reduce small error left by P-only | I : reduce small error left by P-only | ||
Version vom 26. Mai 2015, 23:20 Uhr
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/adds damping 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: