Embedded Files
PID stands for: Proportional, Integral, Derivative
PID is used whenever we need to move a motor or the robot to a 'setpoint':
PID controllers can control the Voltage and/or Current of a motor, which effects velocity and acceleration respectively
PID uses different constants, operations, and the error
Error is the difference between the current position and setpoint
Oversimplified Example: P (proportional) = kP (constant) * error
Why PID?
Can't we max out the motor till we get to our setpoint, then turn it off?
The robot will overshoot the setpoint, and when it tries to adjust backwards, it will overcorrect
Each term is used to eliminate overshooting and oscillation
PID Tuning:
PID Tuning involves changing the constants for each term to eliminate overshooting and oscilation
Different applications will require different constants
Voltage vs. Torque Current vs. Motion Magic:
Voltage Controllers focus of speed control
Drivetrain
Conveyors
Indexers
Torque Current Controllers focus on precise force (and therefore acceleration) control
End effectors
Whenever torque must be constant
Motion Magic uses trapezoidal or s-curve motion profiles by setting a cruise velocity, acceleration, and jerk (rate of change of acceleration)
Arms
Elevators
Page updated
Report abuse