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Version vom 27. Mai 2015, 00:18 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
Examples
Velocity PID
The standard form is most used for position control. If you derivate the standard form, you obtain the velocity form:
velocity PID
