PID Regelung - Versionsgeschichte

Alexanderg: /* PID settings */

2016-07-23T10:39:16Z

‎PID settings

Alexanderg: /* PID controller */

2016-06-03T08:11:25Z

‎PID controller

Alexanderg: /* PID controller */

2016-06-03T08:11:03Z

‎PID controller

Alexanderg am 29. Mai 2016 um 12:18 Uhr

2016-05-29T12:18:10Z

Alexanderg am 29. Mai 2016 um 10:36 Uhr

2016-05-29T10:36:42Z

Alexanderg: Die Seite wurde neu angelegt: „=Simulator= Für interaktives Lernen gibt es hier einen PID-Simulator: [http://www.grauonline.de/alexwww/ardumower/pid/pid.html PID Simulator]“

2015-09-18T10:03:13Z

Die Seite wurde neu angelegt: „=Simulator= Für interaktives Lernen gibt es hier einen PID-Simulator: [http://www.grauonline.de/alexwww/ardumower/pid/pid.html PID Simulator]“

Neue Seite

=Simulator=
Für interaktives Lernen gibt es hier einen PID-Simulator: [http://www.grauonline.de/alexwww/ardumower/pid/pid.html PID Simulator]

← Nächstältere Version		Version vom 23. Juli 2016, 10:39 Uhr
Zeile 17:		Zeile 17:

	=PID settings=		=PID settings=
		+
		+	A PID controller takes three things into consideration:
		+	#error (P): Where you want to be vs. where you are - This is certainly a big factor. If you are at point A and your target is at point B, then the vector from A to B tells you a lot about how you need to steer, but it isn't the only factor.
		+	#derivative (D): How fast you are approaching - If you are approaching the target quickly and you are close to it, you actually need to slow down. The derivative helps take that into consideration.
		+	#integral (I): Alignment error - Your robot may not actually do exactly what you tell it to do. The integral helps determine how much you need to compensate for that.
		+
	The optimal P,I,D parameters depend on the actual hardware. The software default PID parameters are for the Ardumower motors available in the shop. To use your own motors, one method is trial & error (it can be difficult to find the optimum PID parameters):		The optimal P,I,D parameters depend on the actual hardware. The software default PID parameters are for the Ardumower motors available in the shop. To use your own motors, one method is trial & error (it can be difficult to find the optimum PID parameters):

@@ Zeile 9: / Zeile 9: @@
 =PID controller=
-[[File: Pid_controller.png | 500px]]
+[[File: Pid_controller.png | 600px]]
 Examples:

@@ Zeile 9: / Zeile 9: @@
 =PID controller=
-<gallery>
+[[File: Pid_controller.png | 500px]]
-  File: Pid_controller.png | PID controller
-</gallery>
 Examples:

@@ Zeile 19: / Zeile 19: @@
 =PID settings=
-The optimal P,I,D parameters depend on the actual hardware. One method is trial & error (it can be difficult to find them):
+The optimal P,I,D parameters depend on the actual hardware. The software default PID parameters are for the Ardumower motors available in the shop. To use your own motors, one method is trial & error (it can be difficult to find the optimum PID parameters):
 # Increase P until system starts to oscillate

← Nächstältere Version		Version vom 29. Mai 2016, 10:36 Uhr
Zeile 1:		Zeile 1:
		+	=Abstract=
		+
		+	Ardumower uses a digital PID controller for
		+	* heading/course tracking
		+	* perimeter tracking
		+	* motor speed control
		+	* ...
		+
		+	=PID controller=
		+
		+	<gallery>
		+	File: Pid_controller.png \| PID controller
		+	</gallery>
		+
		+	Examples:
		+
		+	# Tracking: input sensor is inside/outside, output plant is the left and right motor. Goal is to keep error (inside/outside state time) small.
		+	# Motor speed: input sensor is odometry, output plant is the motor. Goal is to keep the error (setpoint rpm - actual rpm) small.
		+
		+	=PID settings=
		+	The optimal P,I,D parameters depend on the actual hardware. One method is trial & error (it can be difficult to find them):
		+
		+	# Increase P until system starts to oscillate
		+	# Set I=0.6 * P and D = 0.125 * P
		+
		+	Proportional, Integral and Derivative (PID) controller concept:
		+
		+	P : Determines how aggressively the PID reacts to the current amount of error (Proportional)
		+	D : Determines how aggressively the PID reacts to the change in error (Derivative)
		+	I : Determines how aggressively the PID reacts to error over time (Integral)
		+
		+	<gallery>
		+	File: Pid_controller_examples.png\| Different P,I,D parameters and their outcome
		+	</gallery>
		+
		+	=Velocity PID=
		+	The standard form is most used for position control. If you derivate the standard form, you obtain the velocity form:
		+
		+	<gallery>
		+	File: Ardumower pid controller.png \| velocity PID
		+	</gallery>
		+
	=Simulator=		=Simulator=
−	~~Für interaktives Lernen gibt es hier einen~~ PID~~-Simulator~~: [http://www.grauonline.de/alexwww/ardumower/pid/pid.html PID ~~Simulator~~]	+	For interactive learning, you can find a PID simulator here: [http://www.grauonline.de/alexwww/ardumower/pid/pid.html PID simulator]