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Autopilot PID controller tuning resources: Difference between revisions
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Autopilot PID controller tuning resources (view source)
Revision as of 11:10, 18 August 2019
, 18 August 2019→FlightGear PID controller
Red Leader (talk | contribs) (Syntaxhihglight) |
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You can find good explanations on how to practically tune the controller. [http://en.wikipedia.org/wiki/PID_controller Wikipedia's article on the PID Controller] | You can find good explanations on how to practically tune the controller. [http://en.wikipedia.org/wiki/PID_controller Wikipedia's article on the PID Controller] | ||
==== PID controller tuning guidelines ==== | |||
The following table is a guide of the effect of each parameter in a PID. The columns mean the following: | |||
* fast rise - Is the rate at which the output rises | |||
* overshoot - if the output overshoots (and then adjusts) the target | |||
* settling - this is how the output settles towards the target | |||
* steady error - continuous error from output to a target that doesn't change | |||
{| class="wikitable" | |||
! !! fast rise!! overshoot!! settling!!steady error | |||
|- | |||
| KP | |||
| Decrease | |||
| Increase | |||
| No effect | |||
| Decrease | |||
|- | |||
| KI | |||
| Decrease | |||
| Increase | |||
| Increase | |||
| Eliminate | |||
|- | |||
| KD | |||
| No effect | |||
| Decrease | |||
| Decrease | |||
| No effect | |||
|} | |||
=== Getting graphs of controller action (Linux) === | === Getting graphs of controller action (Linux) === | ||