Quote:
Originally Posted by archaopteryx
I'm not a mathematician, but couldn't , where K is a constant, simply do without K? If pedal and error have a direct correlation, why can't you just say that pedal = error and leave it at that?
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If you are trying to control position, then the error will be in inches (or feet or meters or whatever). In response to this error, you want to choose the appropriate command to your motors, which will be a voltage command... which roughly corresponds to a speed command. So the K is a scaling and gain factor to convert the error to an appropriate motor voltage (speed) command.
On the other hand, suppose you are trying to control motor speed. You want to go 2000 rpm and you are presently going 1900 rpm. So the error is 100 rpm. Would it make sense to give the motor a voltage command which is roughly equal to 100 rpm?