Quote:
Originally Posted by plnyyanks
Where did you get this idea? The PID VI is entirely mathematical - it doesn't care what the inputs are, all it does it brings the error of the system (Setpoint - Process Variable) down to zero. It will work exactly the same with encoder rates and distances, provided that the SP and PV are scaled the same way (and the constants are tuned properly). I'd be more than happy to explain how some of the math works, if you'd like. |
Here's a thought experiment for you. When you reach a certain distance, you want the output to be 0. When you reach a desired setpoint of 50% speed, what do you want the output to be?