This page (revision-25) was last changed on 2021-11-08 09:09 by Murray Altheim

This page was created on 2019-12-22 08:01 by Murray Altheim

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Version Date Modified Size Author Changes ... Change note
25 2021-11-08 09:09 8 KB Murray Altheim to previous
24 2021-06-24 22:52 8 KB Murray Altheim to previous | to last
23 2021-01-23 22:25 8 KB Murray Altheim to previous | to last
22 2020-09-27 01:11 8 KB Murray Altheim to previous | to last
21 2020-09-27 01:11 8 KB Murray Altheim to previous | to last

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PID Controller
PIDController

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At line 25 changed 2 lines
|| Integral Term | integrates the error value into the correction over time so that it minimises this overshoot and pushes the output towards the target value. | the amount of integral applied to the formula needs to be carefully tuned, otherwise this can create its own form of oscillation. Given this tuning is quite tricky to get right, there is generally some overshoot and therefore oscillation in a PI controller.
|| Derivative Term | projects the rate of change of the corrective value, and reduces its amount as the system nears the target. This allows the controller to move towards its Set Point as fast as possible, with as little oscillation as possible. | the Derivative Term is intended to smooth the operation of a PI Controller, but the value of the Derivative must also be tuned.
|| Integral Term | integrates the error value into the correction over time so that it minimises this overshoot and pushes the output towards the target value. | the amount of integral applied to the formula needs to be carefully tuned, otherwise this can create its own form of oscillation. Given this tuning is quite tricky to get right, there is generally some overshoot and therefore oscillation in a PI controller. If the PID controller is used for position control the I term is used; for a motor controller the value is set to 0 since it actually represents the position of the motor if we're sampling at a fixed rate.
|| Derivative Term | projects the rate of change of the corrective value, and reduces its amount as the system nears the target. This allows the controller to move towards its Set Point as fast as possible, with as little oscillation as possible. | the Derivative Term is intended to smooth the operation of a PI Controller, but the value of the Derivative must also be tuned. If either the P or D are too high it can cause the system to oscillate.
This page (revision-25) was last changed on 2021-11-08 09:09 by Murray AltheimTop