zoukankan      html  css  js  c++  java
  • PID

    P - Proportional gain - stiffness and response 

      Closes the loop, react quickly, according to the sign of the error

    D - Derivative term - provides damping.  - if D is too large - causes vibrations

      Structural resonances and distributed components (things are not perfect 

    in nature) contribute to high frequency dynamics, which is amplified by too large D gain

    I - Integral gain - Accuracy

      - Causes overshoots

      - Can cause instability

      - Larger I implies faster convergence

      As long as there is any (even a slightest) error due to friction, the integrator keeps building up 

    the control signal until it becomes large enough to overcome friction, and eventually makes the motor

    rotate to reduce the error.

        Low KI → slow growing of signal (response delay)

        High KI → overshoot and instability 

    source from courseware of university of moratuwa

  • 相关阅读:
    MyEclipse和Eclipse非常方便的快捷键
    java面试题及答案
    Java笔试题解答
    Spring自定义注解
    Spring MVC上传文件
    JS实现购物车特效
    MySQL软件基本管理
    初识数据库
    Python3-IO模型
    Python3-协程
  • 原文地址:https://www.cnblogs.com/smilingfrog/p/7866888.html
Copyright © 2011-2022 走看看