# Difference between revisions of "PID control"

From www.wiki.ardumower.de

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File: Ardumower pid controller.png | velocity PID | File: Ardumower pid controller.png | velocity PID | ||

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+ | For interactive learning, you can find a PID simulator here: [http://www.grauonline.de/alexwww/ardumower/pid/pid.html PID simulator] |

## Revision as of 12:01, 18 September 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:

# Simulator

For interactive learning, you can find a PID simulator here: PID simulator