# 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 : | + | P : Determines how aggressively the PID reacts to the current amount of error (Proportional) |

− | D : to | + | D : Determines how aggressively the PID reacts to the change in error (Derivative) |

− | I : | + | I : Determines how aggressively the PID reacts to error over time (Integral) |

<gallery> | <gallery> |

## Revision as of 21:59, 7 July 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 : 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: