Quote:
Originally Posted by beandip3160
The help says that The PID range features control output raange limiting with integrator anti-windup and bumpless controller output for PID gain changes. Use the DBL instance of this VI to implement a single control loop. Use the DBL Array instance to implement parallel multi-loop control.
That is really a fantastic explanation and all plus you can tell national instruments wanted to explain it but what does it mean  |
One way to look at it is, PID turns your motor into a servo.
You know what angle you want your wheel to be at, and a sensor knows where the wheel actually is.
The first is called the setpoint, and the second is called the process variable.
You provide the setpoint and the process variable as inputs to the PID, and it takes care of the math to figure out what output to send to the motor to make it do what you want.
Armed with that overview, try reading these and see if they make any sense:
http://www.eetimes.com/ContentEETime...0/f-wescot.pdf
http://en.wikipedia.org/wiki/PID_controller
By the way, you guys should get a team member whose job it is to hang out on Chief Delphi and check things out as your team is making decisions. Had you done so, you'd have known that it is strongly advised that a team not attempt swerve for the first time during build season. I feel your pain.