Phidgets PID
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
- Elementary Trajectory Model for the Differential Steering System of Robot Wheel Actuators 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."
