dear all:
we have a automated vehicle which runs on a magnetic tape.
we are taking analog input [0 to 10] volts from a reader
this has a midpoint of 5volt. based on this 2 motors
are given analog output which is 0 to 5 volts.
thru pid we need to keep reader around 5volt mid point,
we are doing this [first time] pl. comment what is wrong !!!!!
* reader reads from analogue port and this is in 0 to 10 volts [raw // no scaling].
* this is than scaled to 0 to 5 volt
* this is further scaled to 0 to 16383
* our motors also take 0 to 16383 [zero to max speed]
* in pid our setpoint is 8190 and we have selected timed
response ; loop update about 0.5; kp = 3.5; kd=0; ki =0;
auto mode
* the pid gives output in PDxx.CVP [%] - this is shown to vary from 0 to 100%
* we take this number and multiply this by set speed
1500 X %PID correction/100 = becomes correction factor.
* from 1 wheel we substract this factor and in 1 wheel we add this factor [differential speed control]. so we get new speed for each wheel. the analog output module is scaled for pid to accept these numbers.
* now how do we find kp, ki, kd so that reader stays as close to 5 V always ???
our vehicle is very lethargic and responds slowly by the time it responds it has left the tape.
tips will be helpful.
hem
we have a automated vehicle which runs on a magnetic tape.
we are taking analog input [0 to 10] volts from a reader
this has a midpoint of 5volt. based on this 2 motors
are given analog output which is 0 to 5 volts.
thru pid we need to keep reader around 5volt mid point,
we are doing this [first time] pl. comment what is wrong !!!!!
* reader reads from analogue port and this is in 0 to 10 volts [raw // no scaling].
* this is than scaled to 0 to 5 volt
* this is further scaled to 0 to 16383
* our motors also take 0 to 16383 [zero to max speed]
* in pid our setpoint is 8190 and we have selected timed
response ; loop update about 0.5; kp = 3.5; kd=0; ki =0;
auto mode
* the pid gives output in PDxx.CVP [%] - this is shown to vary from 0 to 100%
* we take this number and multiply this by set speed
1500 X %PID correction/100 = becomes correction factor.
* from 1 wheel we substract this factor and in 1 wheel we add this factor [differential speed control]. so we get new speed for each wheel. the analog output module is scaled for pid to accept these numbers.
* now how do we find kp, ki, kd so that reader stays as close to 5 V always ???
our vehicle is very lethargic and responds slowly by the time it responds it has left the tape.
tips will be helpful.
hem
