Quote:
Originally Posted by steve d
What would be some typical gains? I'm playing with a bench setup here, motors aren't really loaded or is follow-up pot connected, tough doing it open-loop. I have a gain of 1 for P term, 10/100 for I and D. Seems pretty good, If I up the I gain to 25/100, the error builds up fast and I suspect the real thing will overshoot.
We're using it to "slave" the arm position to the joystick position.
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Gain depends strongly on what your inputs are, how they are loaded and what your outputs are.
The simple approach is
1. Start with a small P, no I or D.
2. Adjust until the response is about what you want.
3. Add just enough I to eliminate undershoot.
4. Add just enough D to eliminate overshoot.
(This is a gross oversimplification. Read the whitepaper on PID without a PhD here on CD).