Difference between revisions of "Phidgets PID"
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* [https://en.m.wikipedia.org/wiki/PID_controller PID Controller] Theory and Tuning | * [https://en.m.wikipedia.org/wiki/PID_controller PID Controller] Theory and Tuning | ||
* [http://www.seattlerobotics.org/encoder/200108/using_a_pid.html Using PID based Techniques For Competitive Odometry and Dead-Reckoning] G.W. Lucas | * [http://www.seattlerobotics.org/encoder/200108/using_a_pid.html Using PID based Techniques For Competitive Odometry and Dead-Reckoning] G.W. Lucas | ||
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= PID Calibration = | = PID Calibration = | ||
Revision as of 11:35, 20 September 2017
Contents
References
Motion
- Where Am I? Sensors and Methods for Mobile Robot Positioning J. Borenstein, H.R. Everett, and L. Feng
- Sensors for Mobile Robots: Theory and Applicaion. H.R. Everett. A.K. Peters.
- Robotics Course Andrew Davison
PID
- PID Controller Theory and Tuning
- Using PID based Techniques For Competitive Odometry and Dead-Reckoning G.W. Lucas
PID Calibration
"If the system must remain online, one tuning method is to first set K_i and K_d values to zero. Increase the K_p until the output of the loop oscillates, then the K_p should be set to approximately half of that value for a "quarter amplitude decay" type response. Then increase K_i until any offset is corrected in sufficient time for the process. However, too much K_i will cause instability. Finally, increase K_d, if required, until the loop is acceptably quick to reach its reference after a load disturbance. However, too much K_d will cause excessive response and overshoot. A fast PID loop tuning usually overshoots slightly to reach the setpoint more quickly; however, some systems cannot accept overshoot, in which case an over-damped closed-loop system is required, which will require a K_p setting significantly less than half that of the K_p setting that was causing oscillation."
