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Unread 17-02-2006, 20:46
Salik Syed Salik Syed is offline
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What constants are u using for high velocity PID

What constants for P I and D? I got it to somewhat work but its velocity was always too high... i know i could further test more values but i tried all day and now i am at home and have no access to the robot, i desparately need some values that i can try out... our custom PID code is totally screwed up and i might port over watsons but i need a start point well...... this turning into a rant...

thanks for any help
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Unread 17-02-2006, 23:28
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Re: What constants are u using for high velocity PID

Try tuning it without I. A PD loop will be fine for high speed velocity. You are, more than likely, getting fast Integration error build up. We are not using I and we are right on target for both wheels. At high speed, the P gain is very sensitive so you will need to really play with D a lot more than if you were tuning a drive train.
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Unread 17-02-2006, 23:29
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Re: What constants are u using for high velocity PID

Also make sure that your terms are sensible - I had problems when my P term overflowed when the error was large enough. If the signs are wrong, then you'll find all kinds of problems...
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Unread 18-02-2006, 23:22
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Re: What constants are u using for high velocity PID

I had a P of 70, a D of 30, and an I of 3, all divided by a divisor of 10. That's with a 16 CPR encoder on the shaft.

Snaps right to the setpoint.
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