Society of Robots - Robot Forum

General Misc => Misc => Topic started by: wise318 on December 06, 2008, 07:47:21 AM

Title: Instability of My climbing Robot
Post by: wise318 on December 06, 2008, 07:47:21 AM

I built a climbing robot using suction pad and dc motor. However i Find the robot is instable.. It sometimes overshoot on certain steps and I have no Idea is it due to PID controller. I have not tune the PID as I am not familiar. May I know what is consider high PID and how to optimise it. And how PID controller affecct the perfromance of my Robot.

TG Programming for motor
(http://i278.photobucket.com/albums/kk119/wise318/PID.jpg)

Title: Re: Instability of My climbing Robot
Post by: wise318 on December 06, 2008, 10:03:20 AM

Anyway My robot is Something like this with 2 axis X and Y are driven by motor to rotate the suction pad to the ground or the ceiling. The axis can be adjusted




(http://i278.photobucket.com/albums/kk119/wise318/WALLrOBOT.jpg)

Title: Re: Instability of My climbing Robot
Post by: Admin on December 10, 2008, 03:58:09 AM

Quote

It sometimes overshoot on certain steps and I have no Idea is it due to PID controller. I have not tune the PID as I am not familiar.

Overshoot is caused by a gain set too high. Look at your code and reduce the gain until it stops overshooting.

Google around for PID controllers to learn more.