Difference between revisions of "PID control"

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(PID controller)
(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 not sufficient control)
+
  P : Determines how aggressively the PID reacts to the current amount of error (Proportional)  
  D : to reduce over-shooting/adds damping
+
  D : Determines how aggressively the PID reacts to the change in error (Derivative)
  I : reduce small error left by P-only
+
  I : Determines how aggressively the PID reacts to error over time (Integral)
  
 
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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: