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If you study linear control theory and you can characterize the dynamics of the system you're trying to control, you can just solve the differential equations a
by dreamcompiler 3y ago
If you study linear control theory and you can characterize the dynamics of the system you're trying to control, you can just solve the differential equations analytically with a Laplace transform* and write down the proper values of the coefficients instead of searching for them.
*or Z transform if the system is discrete
Furthermore, the equations will tell you whether you even need the "I" and "D" parts of PID.
- chillingeffect 3y agoYup you can even make PI^mD^n controllers... the challenge comes in the linearization.... recently we struggled with the backlash in a gearbox... with a long chain of small backlashes... we estimated the state of every pair... treated as an inertial system with no K and a short travel until the next moment locked in after e.g. .1 to 2 degrees. The higher level system (surgery robot) also had a closed loop so we didnt have to be perfect, but cleaning up gave higher bandwidth.