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Re: Alternative Method for calculating “I” term in PID
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Originally Posted by KenWittlief
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Turning the system on and twiddling the 'knobs' for P I and D will drive you crazy :^) All that math stuff: the bode plots, the pole/zero diagrams... it really is necessary unless you have a control system that can characterize the open loop response of the system by hitting it with step functions.
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While the mathematical formulas do work, there's not nearly as much trouble as you allude to in hand tuning a system by "twiddling" the values. In fact every value I've used for 358s PID loops were derived by tweaking P until I had a minimal steady state error, then tuning I to minimize that until a minor oscillation was present, then tuning up D to absorb that. After the initial calibration it takes an occasional tweak to fix the odd glitch or two, but otherwise it's worked reliably for us.
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Matt Krass
If I suggest something to try and fix a problem, and you don't understand what I mean, please PM me!
I'm a FIRST relic of sorts, I remember when we used PBASIC and we got CH Flightsticks in the KoP. In my day we didn't have motorized carts, we pushed our robots uphill, both ways! (Houston 2003!)
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