Quote:
Originally Posted by Alan Anderson
But for speed control instead of position control, you probably don't need to care about I.
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For the sake of this discussion, I'm going to assume that your sensor input to the PID loop is velocity, and your output is either PWM or voltage.
Are you sure about that? If you want to go at, say 1 m/s, with just a P (or PD) controller, that will take a signal to the motor controller. That signal will only be produced by a PD controller if there is an error, which means you aren't driving at the correct speed. This isn't caused by friction, which is the reason why you added the I term in a position loop.
For velocity control, you really only need P and I. P will act like the D term would in a standard PID position loop. I will act like the P term would in a standard PID position loop.