Numerical integration and differentation in the PID algorithm
Introduction
PID is elaborated algorithm to use in numerous ways. Though it might difficult to set up the parameters correctly, it makes the robot move more smoothly and thus more rapid. The P is for Proportional, I is the Integral and D is Differential. We use PID in line following.
Aim
Proportion, Integration and Derivation.
Plotting, Error function.
Robot
Almost any robot will do, but we will use Asimov 2/ Verne robot.
Sensors
A light sensor is used.
Example Video
Theory
If applying only proportional coding, the steering is affected by the amount of difference in reflectance from the average. The integral term is a sum (or integral) of the previous (historical) errors, and differential is used to forecast the next error based on the previous errors.
| Term | Meaning |
|---|---|
| Error | Sensor value - target value |
| Integral | Integral + error |
| Derivative | Error - previous error |
| Turn |
Exercises
References
See [PID Controller For Lego Mindstorms Robots]
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