Step4: Programming with PID Controller
***What is PID Control?
PID controller (”pee-i-dee”) is a generic name for a controller containing a linear combination of
@proportional (P)
@integral (I)
@derivative (D)
terms acting on a control error (or sometimes the process output).
All parts need not be present. Frequently I and/or D action is missing, giving a controller like
**P, PI, or PD controller
It has been estimated that of all controllers in the world
**95 % are PID controllers
#Note: P depends on the present error,
I depends on the accumulation of past errors
D is a prediction of future errors, based on current rate of change.
Yesterday = Experience,
Today = Experiment,
Tomorrow = Expectations.
@@@Use your Experience in your Experiment to achieve your Expectations@@@
***Why PID Control?
•Simple, easy to use
•Wide Application: Petrochemical, Pharmaceuticals, Food, Chemical, Aerospace and Semiconductor, etc.
•Robust: Insensitive to changes to plant parameter and disturbance.
***PID Controller For Lego Mindstorms Robots
A PID Controller is a common technique used to control a wide variety of machinery including vehicles, robots and even rockets. The complete mathematical description of a PID Controller is fairly complex but a much simpler understanding is really all that is needed to use a PID effectively.
#Reference:
2. http://www.inpharmix.com/jps/PID_Controller_For_Lego_Mindstorms_Robots.html
3. http://www.mathworks.com/discovery/pid-control.html
5. http://www.mathworks.com/videos/pid-control-made-easy-81905.html?form_seq=conf966
***Multi-Bot with PID Controller:
Related Video with PID Controller: