Re: PID problems

["Bill Marshall" <bill@wgmarshall.freeserve.co.uk>]

Title: Message

PID control systems are notoriously difficult to tune. However it is difficult to give an opinion without specific details of your system. I gave a paper at Minos '02 on the subject (posted on my website http://www.wgmarshall.freeserve.co.uk/ together with an 8051 code fragment). This is for lateral position control, but I have since developed one for velocity control.

 

Bill Marshall

 

----- Original Message -----

From: Derek Hall

To: micromouse@cs.rhul.ac.uk

Sent: Monday, June 30, 2003 1:21 PM

Subject: PID problems

I am trying to implement a PID system to control the steering on my mouse. I can set it up to run at a predefined speed but if I change the speed it becomes unstable. I think this is because as the speed increases the sample time dose not so the distance travelled between samples changes. My question is should I be including the currant speed in the PID and if so where?

 

Thanks

 

Derek