PID control
Aus www.wiki.ardumower.de
Inhaltsverzeichnis
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 : Determines how aggressively the PID reacts to the current amount of error (Proportional) D : Determines how aggressively the PID reacts to the change in error (Derivative) I : Determines how aggressively the PID reacts to error over time (Integral)
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
Simulator
For interactive learning, you can find a PID simulator here: PID simulator
