PID control: Unterschied zwischen den Versionen
Aus www.wiki.ardumower.de
(→PID controller) |
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Proportional, Integral and Derivative (PID) controller concept: | Proportional, Integral and Derivative (PID) controller concept: | ||
− | P : control gain (too high value produces oscillation, too low value | + | P : control gain (too high value produces oscillation, too low value not sufficient control) |
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 |
Version vom 27. Mai 2015, 00:19 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 not sufficient 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: