Quote:
Originally Posted by Ziv
This is a good idea. It's good to give as much control as possible to the driver, making it his or her choice whether or not to use a particular feature in a particular situation. (For example, if another robot is pushing you up the ramp, you probably want to stay put.)
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I agree with this as well. With
our method, we have the driver enable the balancing, but (while retaining driver control) the driver will drive the robot up the bridge until the robot senses a tip. Then, the robot will take control away from the driver and do the rest of the balancing itself.
Quote:
Originally Posted by Luiz12
It then says,"Then increase Ki until any offset is corrected in sufficient time for the process" which I really don't understand. Do I adjust this if I see any lag or what does it mean?
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Basically, when you have Ki at zero, the system might take longer (than you want) to reach its setpoint. You use Ki in order to reduce this time. Think of the
error accumulating over time and getting factored in. Therefore, the longer the system has had a nonzero error, the bigger the value the Ki term acts on is.
With that base, I don't really use a set system to tune Ki. I just usually start with a very small value (like around 0.01) and test it out. From there, if you watch your system and how long it takes to reach its setpoint, and determine how Ki should be changed. I usually tweak numbers by a factor of 2 or by a factor of 10 (depending on how much I think needs to be adjusted) and go from there.
tl;dr: Tune PID constants by guessing and checking until you get something satisfactory.