Tuning PID Parameters - Chief Delphi

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Tuning PID Parameters

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21-01-2012, 16:38

rbtying

Team 846 Chief Software

AKA: Robert Ying

FRC #0846 (Funky Monkeys)

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Join Date: Jan 2012

Rookie Year: 2011

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Tuning PID Parameters

So I just got back from a fairly long conversation about tuning PID parameters and other closed-loop control systems, and am wondering how most of you guys do it.

The key item of debate was whether or not it would be better to tune the P gain first (that is, start with I and D gains set to zero, as per the Ziegler-Nichols method), or to algorithmically relate P and I to D and a damping factor.

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