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Re: Velocity PID(F) Best Practices - To Integrate, or Not To Integrate?
So, here's a graph of our flywheel velocity error (units in RPS) versus time during a shooting test. The negative spikes are slowdown while the flywheel is in contact with the ball. The velocity setpoint was 50 RPS.
As we can see, consistent with the above discussion, there is steady-state error, but it is very small.
We are wondering if teams bother to introduce any integral gain to eliminate the steady-state error, and if this performance is consistent with what other people have seen using similar methods.
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Member, FRC Team 449: 2007-2010
Drive Mechanics Lead, FRC Team 449: 2009-2010
Alumnus/Technical Mentor, FRC Team 449: 2010-Present
Lead Technical Mentor, FRC Team 4464: 2012-2015
Technical Mentor, FRC Team 5830: 2015-2016
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12-07-2016, 02:31 PM
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