8/9/2023 0 Comments Pid control step labview![]() ![]() There’s no really easy way to say it: it’s a long, time consuming process. It’s really dependant on your application and the type of feedback you want. In our robots, we’ve found that an I parameter is rarely needed - we usually get what we want with only PD (or sometimes just P) controllers. A fast PID loop tuning usually overshoots slightly to reach the setpoint more quickly however, some systems cannot accept overshoot, in which case an over-damped closed-loop system is required, which will require a Kp setting significantly less than half that of the Kp setting causing oscillation. However, too much Kd will cause excessive response and overshoot. Finally, increase Kd, if required, until the loop is acceptably quick to reach its reference after a load disturbance. However, too much Ki will cause instability. Then increase Ki until any offset is corrected in sufficient time for the process. Increase the Kp until the output of the loop oscillates, then the Kp should be set to approximately half of that value for a “quarter amplitude decay” type response. ![]() If the system must remain online, one tuning method is to first set Ki and Kd values to zero. ![]()
0 Comments
Leave a Reply. |
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |