PID Tuning Process?

[Alan Anderson]

If you're trying to control wheel speed, consider what happens when a typical proportional controller determines that the speed is correct. The error term goes to zero, removing power from the motor. It'll slow down until the error term is high enough to add power, and eventually you'll reach a steady state with the speed much slower than you are asking for.

If you leave the P term at zero and pretend the I term is actually the P term, you can get something much closer to what you want.

(What we've done in the past is to take the output of the PID and use it to add to or subtract from the current motor control value.)

[NotInControl]

Team 2168 just posted a video tutorial on how to tune PID gains... without using guess and check.

The method uses the modern control approach where you model your plant, simulate your controller, and design gains.

Its easy to do, and I believe it is explained in such a way that no prior control experience is needed.

The tutorial uses matlab and simulink (Industry defacto tools for control and filter design). If you don't have a license Math works provides free licenses to first teams - all you have to do is email them.

check out this thread:

http://www.chiefdelphi.com/forums/sh...d.php?t=100555

-Kevin