As explained in the last article on PID control, the aim of the PID regulator is to compute a correction according to the error (the difference between the target speed and the actual speed), its integral and derivative, and 3 chosen coefficients : KP (for proportional correction), KD (for derivative correction) and KI (for integral correction). This week, Xavier and I made some corrections on the software (presented in this article) and choose the coefficients.
Tuning KP
This coefficient was the easiest to choose by following the steps indicated in this article.
We took the smallest KP for which the system oscillates (called critical KP) and multiplied it by ⅔.… Read more