Problem with tuning the PID #11
Unanswered
martinmikula
asked this question in
Q&A
Replies: 1 comment
-
|
It sounds like your fader has high static friction. This is a common problem with PID controllers, and there is a ton of research about it. One workaround is to add feedforward control with a model that includes the friction. In the simplest case, you add some extra force when the velocity is close to zero: if (std::abs(velocity) < threshold)
output += std::copysign(F, error);You'll have to tune |
Beta Was this translation helpful? Give feedback.
0 replies
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Uh oh!
There was an error while loading. Please reload this page.
-
Hello, first of all thank you very much for great library. I have an problem with tuning the PID. It seems that my main problem is that I'm trying to increase the Kp to have an stable oscillation, and in your example you have an stable oscillation in Kp = 19, I have an stable oscillation only when I changed it to 60... Next i measured the Tu, and count all values, but the problem is that I have still a really big overshoot... My suspection is that the main problem is related with the too high Kp... Do you have any idea what can be wrong? Bacically when I enable PWM with value 40 (max256) the fader is not moving at all, then I increasing the value (or help with my finger) then the fader starts to move really quickly... Do you have any idea?
Beta Was this translation helpful? Give feedback.
All reactions