PID control: Unterschied zwischen den Versionen

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(Abstract)
(PID controller)
Zeile 14: Zeile 14:
 
  D : to reduce over-shooting
 
  D : to reduce over-shooting
 
  I : reduce small error left by P-only
 
  I : reduce small error left by P-only
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Examples
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[Pid_controller_examples.png]
  
 
=Velocity PID=
 
=Velocity PID=

Version vom 26. Mai 2015, 23:17 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

[Pid_controller_examples.png]

Velocity PID

The standard form is most used for position control. If you derivate the standard form, you obtain the velocity form: