PID control

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Revision as of 23:03, 26 May 2015 by Alexanderg (Talk | contribs) (Abstract)

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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: