Difference between revisions of "Phidgets PID"
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* [http://wiki.ros.org/pid ROS PID] | * [http://wiki.ros.org/pid ROS PID] | ||
* [http://docs.ros.org/jade/api/control_toolbox/html/classcontrol__toolbox_1_1Pid.html ROS PID API] | * [http://docs.ros.org/jade/api/control_toolbox/html/classcontrol__toolbox_1_1Pid.html ROS PID API] | ||
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= PID Calibration = | = PID Calibration = | ||
| + | * [http://wiki.ros.org/differential_drive/tutorials/setup ROS PID Tuning] | ||
* [https://en.wikipedia.org/wiki/PID_controller#Manual_tuning Manual PID Tuning] | * [https://en.wikipedia.org/wiki/PID_controller#Manual_tuning Manual PID Tuning] | ||
Revision as of 12:38, 20 September 2017
References
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."
Other PID References
- PID Controller Theory and Tuning
- Using PID based Techniques For Competitive Odometry and Dead-Reckoning G.W. Lucas
