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by ilayn
887 days ago
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> the error depends on the goal you need to reach, and if the goal constantly changes, I and D are kinda useless... Why do you think that? the error is the difference between actual and desired at every instant. If you move the desired then you enlarge the error term and PID reacts to close that gap, it might never reach if you are changing the goal too fast but that's something related to the concept of "bandwidth". OTherwise you are quite right and all is OK. If you have multiple axes then the typical solution is to have n PID loops for n axes. This assumes that the dynamics of the system is decoupled. In english, if I do something in one axis it will not affect the other axes. Then you can tune the PID loops independently. Otherwise, dry math. |
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