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Re: Two variable PID? I know someone's done it =)...
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Originally Posted by SlimBoJones
My team hasn't done it, but I'm SURE someone out there has:
A PID loop that controls BOTH velocity and position. Basically it allows you to say "I want to move 33 feet forward, and do it at 6 fps."
The PID loop manages both the acceleration to the target speed, keeps track of the distance travelled, and decelerates and corrects as you approach your target distance.
Surprisingly, I did a search on CD, and didn't come up with much, although I probably missed something  .
Overviews, explanations, even code snippets would be much appreciated!
-Shawn T. Lim |
If you really want to control multiple parameters simultaneously, the best solution is to use a state space control algorithm. I would recommend doing a web search on "state space control" or "full state feedback".
A good example of trying to control position and velocity with state space methods is shown here (from my alma mater, nonetheless).
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An ounce of perception is worth a pound of obscure.
Last edited by Chris Hibner : 14-08-2006 at 18:54.
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