PID Loops

[WizenedEE]

Originally Posted by Chris Hibner

The I and the D part are a little more complicated. If this all makes sense so far, let me know and we can continue on with the I and the D part.

Please do. I know the basic theory and I've looked at the labview vi, but I'm a little hazy on the details. Is this how it works:

The integral adds up all the errors and then multiplies by a constant (one of the gains) to adjust the speed.

The derivative takes the current speed and somehow uses that to adjust the speed? How does it do that?

Also, looking at the labview vi again, I'm wondering why they use minutes instead of milliseconds. If I rewrite it (to learn about it) to use milliseconds, would I have to the input D by 60,000 for it to work?