PID control: Unterschied zwischen den Versionen
Aus www.wiki.ardumower.de
(→PID controller) |
(→PID controller) |
||
Zeile 17: | Zeile 17: | ||
Examples: | Examples: | ||
− | + | # Tracking: input sensor is inside/outside, output plant is the left and right motor. Goal is to keep error (inside/outside state time) small. | |
− | + | # Motor speed: input sensor is odometry, output plant is the motor. Goal is to keep the error (setpoint rpm - actual rpm) small. | |
<gallery> | <gallery> |
Version vom 29. Mai 2016, 12:10 Uhr
Inhaltsverzeichnis
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)
Examples:
- Tracking: input sensor is inside/outside, output plant is the left and right motor. Goal is to keep error (inside/outside state time) small.
- Motor speed: input sensor is odometry, output plant is the motor. Goal is to keep the error (setpoint rpm - actual rpm) small.
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