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Unread 26-02-2015, 15:03
tr6scott's Avatar
tr6scott tr6scott is offline
Um, I smell Motor!
AKA: Scott McBride
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Re: PID Tuning Help

http://www.inpharmix.com/jps/PID_Con...ms_Robots.html

Simple and detail explanation about pid, tuning.

We wrote our own pid for the elevator this year, about a week into the debug, one of the students says, hey Labview has a PID instruction, why didn't we use that...

A week after that a mechanical mentor says, hey the Talon SRX does PID on the talon, why didn't we use that...

The answers are the same, because I wanted them to learn it. . .

We found the Kc and oscillation period, (we log elevator motor output and elevator encoder feed back to .csv file) to be pretty good values, we had to tweek them down a bit from the chart, but the same gains worked for both lifting loaded, unloaded, lowering loaded and unloaded. We also do the calcs in timed tasks loop with a 20ms metronome timer.
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Last edited by tr6scott : 26-02-2015 at 15:06. Reason: sp
 


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