Speed PID Function

[Tom Bottiglieri]

Originally Posted by vamfun

note-velocity-pid-loop


This note on Velocity PID controller addresses your questions on how to obtain the open loop motor time constant tau_m. If testing is available always use that source since there is really no such thing as a spec motor. However, I use spec data to precompute gains since the gains will be adjusted anyway when we optimize the loop gains during integration testing. Often , very little adjustment is needed.

The note also comments on various ways to implement a PID loop in software.

You note that tau_d = tau_m/r. How does one find R? Do we just choose this? If so, what is a reasonable choice?