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Unread 09-04-2016, 13:42
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Alan Anderson Alan Anderson is offline
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Re: PIDController + Latency - related issues

Quote:
Originally Posted by Pault View Post
I'm not sure what options are available in LABVIEW, but the simplest way to do this in Java, C++, and onboard PID with a Talon SRX is to just add a feedforward term.
The built-in PID in LabVIEW is not like most other implementations. It uses the academic form, with a single overall gain and a pair of times for the Integral and Derivative parameters. There is no feedforward provided.

You can "roll your own" and make a PID controller using a more conventional form, including feedforward. It's not hard. Tuning a conventional PID is probably easier (unless you bring in a lot of math and analysis to compute the appropriate academic parameters based on the system's step response).

Feedforward only works well if the system is reasonably linear. Your system might always use a range of wheel speeds where that assumption holds, and it would be fine in that case. You should still be aware that you are relying on that assumption.
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