Written by Rick Bickle – November 7, 2003
The following presentation looks at the operation of control systems in general, as well as specific control systems for DC motor controls in robots. Circuits used in motor speed control, techniques for speed control, and examples of different types of control systems are shown. Finally, a description of a specific type of motor control system called a PID system is detailed, showing the mathematics of PID, the parameters, the algorithms used, possible pit falls of PID programming, and an example of a PID tuning method.
Presentation PDF file: motorcontrol
Need even more information on PID? Here are links to a few other good sources of information on this important control technique.
- Improving the Beginners PID
- Arduino PID library
- PID Controller, Wikipedia
- What is PID? Tutorial Overview, ExpertTune
- Using PID for Odometry, Seattle Robotics Society