Velocity Controller Tuning Guide: Difference between revisions
(Created page with "The Phidget Control Panel comes with a built-in PID tuner for velocity control. The purpose of the PID tuner is to give you an easy way to experimentally determine the best control parameters for your motor system. <center>{{#ev:youtube|IBNqhg-hbng|rel=0}}</center> Once you're done with the tuner, you can save the parameters to a file for later use in the Phidget Control Panel, or you can set the values in the attach handler of your own program. ===Resources=== * D...") |
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The Phidget Control Panel | The [[Phidget Control Panel | Phidget Control Panel on Windows]] features a built-in tuning application for Velocity Controllers. This application makes it easy to experimentally determine the best control parameters for your system. | ||
<center>{{#ev:youtube|IBNqhg-hbng|rel=0}}</center> | <center>{{#ev:youtube|IBNqhg-hbng|rel=0}}</center> | ||
==Motion Profiling== | |||
Trapezoidal motion profiling combined with a proportional-integral-derivative (PID) controller is used in order to accurately track velocity. This allows for advanced control and improved repeatability of your system. | |||
===How It Works=== | |||
Trapezoidal motion profiling is named for the trapezoidal shape of the Velocity-Time graph (shown below in orange). | |||
[[Image:Motion_prof_velocity.png|link=https://cdn.phidgets.com/docs/images/2/22/Motion_prof_velocity.png|center|500px]] | |||
Unlike traditional PID loops where a target is set and the controller approaches (often aggressively), Phidget velocity controllers will intelligently plot a series of target velocities between the current and desired velocity. This is shown as the ''Expected Velocity'' in the graph above. The controller will follow the user-specified acceleration plot these points. A PID loop is then employed to precisely follow this trajectory, ensuring smooth and controlled motion. | |||
===Resources=== | ===Resources=== | ||
Latest revision as of 17:54, 28 November 2024
The Phidget Control Panel on Windows features a built-in tuning application for Velocity Controllers. This application makes it easy to experimentally determine the best control parameters for your system.
Motion Profiling
Trapezoidal motion profiling combined with a proportional-integral-derivative (PID) controller is used in order to accurately track velocity. This allows for advanced control and improved repeatability of your system.
How It Works
Trapezoidal motion profiling is named for the trapezoidal shape of the Velocity-Time graph (shown below in orange).
Unlike traditional PID loops where a target is set and the controller approaches (often aggressively), Phidget velocity controllers will intelligently plot a series of target velocities between the current and desired velocity. This is shown as the Expected Velocity in the graph above. The controller will follow the user-specified acceleration plot these points. A PID loop is then employed to precisely follow this trajectory, ensuring smooth and controlled motion.
