Difference between revisions of "PID control"

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(PID controller)
(PID controller)
Line 12: Line 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
  

Revision as of 00:20, 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/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: