PID-controller | PID controller to control the steering angle | Robotics library
kandi X-RAY | PID-controller Summary
kandi X-RAY | PID-controller Summary
The parameters are tuned manually with the order of: p, d, i. The d and i are first setted to be zeros, and 0.2 is used for the p value. I adjust the p value up and down till it could drive around the first corner and hard to imporve more. Then I keep the p value as it is, and increase the d value. Use the same approach for d value and i value.
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QUESTION
I just calculated the difference form equation for a PID control and I need to evaluate it in scilab, now, the question that I how to add the difference equation to the system to see if the controller is doing what is expected.
I saw in this document how to do it in Xcos but I want to make it by program or console since I programmed an application to do those calculations.
I've been readind that using the function filter I can apply the equation as a z-transform to the signal I want but I don't know if I could use the difference equation. Another doubt that I have is, in case of using filter, how to put the error as an input to filter.
...ANSWER
Answered 2022-Jan-24 at 17:28If you want to do everything discrete (system and controller) then the simplest way is to run the discrete time loop yourself. For example if your equations look like:
QUESTION
I'm trying to understand how to use Drake to control a simple Double Pendulum using a PID controller.
Following the example at this link, I created a similar program but I only wanted to try to use 1 PID on the lower joint and see what the system did. (I am aware it is impossible to get to a stable state in this manner)
...ANSWER
Answered 2020-Sep-05 at 18:10Instead of constructing PID controller with a scalar Kp, Kd, Ki gain, you should use a size 2 vector as the gain. Since you only want to control the lower joint, then only the entry corresponding to the lower joint is non-zero in the gain matrix.
I think you can change your code to
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