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Originally Posted by Rickertsen2
Why PI instead of PD or PID?
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I've always thought it was a rule of thumb to use PI for position control and PD for velocity control, especially with the dead band on the victors.
In position control, you want to accurately stick to one position. (yeah, I know... duh... ) With just P control, the error can get so small that you are sending a output of 0 (-10 - 10 - victor dead band) to the motor control. You want the integral term to look at that error building up and over power it.
In velocity control, you want to change your output on the fly, and compensate for where you think you need to be. PD works fine.