Paul,
Thank you for posting your profile generator. It is fun to see how others do it and learn more.
Quote:
Originally Posted by flameout
During this time, the previously-small I term will be growing as the errors accumulate. However, due to the Kv term, the necessary I term to maintain zero steady state error at the setpoint is approximately zero. Since the I term will not begin decreasing until it has overshot, it is guaranteed to overshoot.
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You are missing a term. Ka will accelerate the robot as required, so it should in theory track the profile perfectly and never have any error. You are trying to get Kp and Ki to do the work of Ka.
Especially for the drivetrain, if you saturate your motors, you loose all ability to make adjustments. This quickly shows up as not having power available to correct for the robot turning. By providing a profile that will never ask for full power, you avoid this whole problem and can still steer nicely as you accelerate and decelerate.