PID control

From www.wiki.ardumower.de
Revision as of 00:17, 27 May 2015 by Alexanderg (Talk | contribs) (PID controller)

Jump to: navigation, search

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: