Labview PID

[Gary Bonner]

The 2010 FRC Vision Whitepaper discusses tuning the PID in the example code. The document first discusses the parallel PID formula, which has separate gains for P, I, & D, and the academic formula, which Labview uses, and which has only one gain. The coefficients of the I & D terms are time periods. The paper then discusses tuning the P, I, & D gains. Do they mean the periods for I & D? Also, when tuning the P term, the I & D terms are to be set to 0. For the I term, since the period is in the denominator, should it be set to a large value to zero out the term? How large? Or is there another way to zero out the terms?

Thanks!

[Greg McKaskle]

I apologize if the paper slipped up and referred to them as gains. How about coefficients?

The paper is trying to document a procedure for tuning all three coefficients. As for the meaning of zero, I didn't look at the implementation, but it seems that zero is a special value which turns off that term. After all, having an infinite term probably doesn't give a good output anyway.

Greg McKaskle