PID control: Unterschied zwischen den Versionen
Aus www.wiki.ardumower.de
(→Abstract) |
(→Abstract) |
||
| Zeile 6: | Zeile 6: | ||
* motor speed control | * motor speed control | ||
* ... | * ... | ||
| + | |||
| + | =PID controller= | ||
| + | |||
| + | Proportional, Integral and Derivative (PID) controller concept: | ||
| + | |||
| + | P : control gain (too high value produces oscillation, too low value too slow control) | ||
| + | D : to reduce over-shooting | ||
| + | I : reduce small error left by P-only | ||
=Velocity PID= | =Velocity PID= | ||
Version vom 26. Mai 2015, 23:03 Uhr
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 : control gain (too high value produces oscillation, too low value too slow control) D : to reduce over-shooting I : reduce small error left by P-only
Velocity PID
The standard form is most used for position control. If you derivate the standard form, you obtain the velocity form:
velocity PID
