Hello,
Can you first describe how it goes
unstable?
Does it oscillate?
Does it overshoot?
Is settling time not satisfactory?
Hmmm… it seems like you need to ramp
up your derivative term as you get closer to the wall…
You’ll have to describe what happens
specifically though..
Cheers,
fred
-----Original Message-----
From:
owner-micromouse@cs.rhul.ac.uk [mailto:owner-micromouse@cs.rhul.ac.uk] On Behalf Of Bill Marshall
Sent: Monday, June 30, 2003 1:46
PM
To: micromouse@cs.rhul.ac.uk
Subject: Re: PID problems
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.
----- Original Message -----
Sent: Monday,
June 30, 2003 1:21 PM
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?