Difference between revisions of "PID control"

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(Velocity PID)
(PID controller)
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  File: Pid_controller.png | PID controller
 
   File: Pid_controller_examples.png| Examples
 
   File: Pid_controller_examples.png| Examples
 
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Revision as of 12:04, 29 May 2016

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