¶ PID Control
¶ Using a PID
¶ For Velocity control
Velocity control is where you use a PID to set a motor to continue moving at a specific velocity. When using a PID in this form, I always equals 0.
¶ Tuning
¶ Manual Method
- Set
and increase Kp until the closed-loop system oscillates on the edge of instability
- Reduce Kp until you reach the quarter amplitude delay. (RULE OF THUMB: reduce Kp by approximately 1/2.)
- Increase Kd and Ki to achieve desired response.