Quote:
Originally Posted by Luiz12
Now from what I read, I know to tune the PID I must start with zero values on I and D and then adjust the PID until it begins to oscillate ( which I assumes means the robot) then divide it by half. (from what I read on wikipedia) but do I increase the P or decrease, and in what increments should increase by? 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?
|
You may want to look into reading
this paper instead of Wikipedia.
Ki is the integration coefficient; that is, the I function of the PID controller integrates, i.e. accumulates, your error (how far you are from the setpoint), and allows you to correct for error that has accumulated as a result of oscillation from tuning P alone.
-edit- There's no definitive answer; it's almost wholly experimental, especially because the return rate of the gyro doesn't directly correlate with the "wobbling" of the bridge as you try to balance.