- YOLOL cord for Auto Speed Control : PID Speed Control
- [Image] Control Concepts
- [Image] Coefficients : Adjustment of Kp, Ki, Kd
- [Video] Audio description and actual behavior
YOLOL cord for Auto Speed Control : PID Speed Control
Code to PID Control
kp=0.05 ki=0.05 kd=0.1 dt=0.4 eo=en if :as==0 then goto 1 end en=:v-:speed :FcuForward+=kp*en+ki*(en+eo)/2*dt+kd*(en-eo)/dt goto 1
Code to Limit Values
if :FcuForward < 0 then :FcuForward = 0 end if :FcuForward > 100 then :FcuForward = 100 end goto 1
[Image] Control Concepts
Theory of PID control
Approximating the Integral
Approximating the derivative
PID control after approximation
[Image] Coefficients : Adjustment of Kp, Ki, Kd
D control cannot operate independently.
Determined from Kp
PD control with additional Kd
This is enough for most people.
If Kd is made too large, the value will be returned in excess.