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Originally Posted by Matt Leese
Everytime I see reference to a PID loop, I can't help but think it's a bit overkill for a lot of what we're doing. Control systems aren't my expertise so I'm not sure how accurate my statements are. At least for drive train applications, there seems to be enough friction in the system that you'd only need to use a proportional controller. Overshoot and oscillation just won't be large problems then. I say this because a proportional controller was working perfectly fine for us for driving to the tetra the other day. Is it just because the gain wasn't set very high? Or is it overkill?
Matt
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Overkill? Perhaps, but its only takes 5 lines of code to show how to do it right. If you don't need it set the I and D gains to 0. But for controlling an arm I would rather have full control. Especially if you are going to load it up some of the time and other times have it moving with no load.
Plus now there are a few hundred more people out there that know that PID control is nothing magic. In fact its pretty simple stuff.
Enjoy...