580
edits
Autopilot configuration reference: Difference between revisions
Jump to navigation
Jump to search
m
→pid-controller
m (→pid-controller) |
|||
| Line 145: | Line 145: | ||
== pid-controller == | == pid-controller == | ||
The [http://en.wikipedia.org/wiki/PID_controller PID controller] is the swiss army knife of automation and this implementation is suitable for most situations. It has a builtin anti-windup logic, and usage of <max> and <min> elements for | The [http://en.wikipedia.org/wiki/PID_controller PID controller] is the swiss army knife of automation and this implementation is suitable for most situations. It has a builtin anti-windup logic, and usage of <max> and <min> elements for clamping the output is mandatory. The most important thing to know is that this controller 'does not' compute absolute output values but an offset from the current value of the output property. This can lead to unexpected behavior if the current value of the output property is unknown when the controller is enabled. This behavior is different to that of the pi-simple-controller. | ||
The xml element creating a pid controller is <tt><pid-controller></tt>. | The xml element creating a pid controller is <tt><pid-controller></tt>. | ||