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pid_settings

PID setting examples

Settings with Cytron mdc30 driver running 12 volts into phidgets motor with a 4 inch diameter wheel on it.

  • Prop 29
  • Output14
  • Max int 20
  • Counts / degree 11
  • Max steer angle 38
  • Safe turn 7
  • PWM 27
  • Look ahead secs 2.4
  • Look ahead multiplier 1.1
  • Min look ahead 1.9 Mrs
  • U turn look ahead multiplier 0.8

Works very smoothly and does u turn but if very slightly off the line takes a long time to get back on it.

Cytron MDC30 driver with 3269 Phidgets motor using a 12V to 24V converter 100mm diameter sponge wheel This setting feels a little too weak

  • Look ahead: 1.2s
  • look ahead offline multiplier: 1.2
  • min look ahead 2m
  • max steer angle 55°
  • safe turn 7
  • U Turn look ahead multiplier: 0.9
  • Proportional Gain: 14
  • Overall Gain: 18
  • Minimum PWM: 36

This setting is a little too jerky

  • Proportional Gain: 93
  • Overall Gain: 7
  • Minimum PWM: 46

Here's one of mine: JD6630 Hydraulic valve (original center valve block for front loader with flow control valves) Basic PCB ADS1115 MMA(mostly off) IBT2

  • Distance back for heading calc 3,0
  • Look ahead 2
  • L A offline multiplier 1,9
  • Min look ahead 2,7
  • UTurn L A multiplier 0,9
  • Proportional Gain 90
  • Output Gain 35
  • Counts per degree 165
  • Max steer angle 61
  • Safe turn 7
  • Min PWM drive 1

Works ok, but valve is too big and it works mostly like bang-bang so flow needs to be limited very low and valve is not very sensitive. UTurn is not working because of slow steering. Used this mostly for seed drilling with Väderstad Rapid 400C (4m).

Other hydraulic setup: JD6920s Hydraulic valve HydraForce SP10-57C-6T-N-12EJ No PCB ADS1115 MMA(mostly off) IBT2 BNO055

  • Distance back for heading calc 3,0
  • Look ahead 2
  • L A offline multiplier 2
  • Min look ahead 2,5
  • UTurn L A multiplier 1
  • Proportional Gain 49
  • Output Gain 13
  • Counts per degree 255
  • Max steer angle 19
  • Safe turn 2
  • Min PWM drive 9

Sort of compromise between straight lines and smooth U-turns. A bit more gain and lines are straighter but in u turn it violently jerks left and right. With lower gain u turns goes smooth but it oscillates slowly on the straight line. Used this for harrowing (8m).

My electric motor setup: Valmet 665 12v to 24v converter Phidgets 3269 motor Basic PCB ADS1115 MMA(mostly off) IBT2

  • Distance back for heading calc 3,0
  • Look ahead 2
  • L A offline multiplier 2,2
  • Min look ahead 2
  • UTurn L A multiplier 0,8
  • Proportional Gain 24
  • Output Gain 25
  • Counts per degree 170
  • Max steer angle 30
  • Safe turn 7
  • Min PWM drive 10

Works nice and smooth. U turns too. Used for harrowing (5,4m).

This setup works on JD 4760 Basic pcb 12volt ez steer motor and using ardusimple boards with aog built in ntrip.

  • Version,3.0
  • LookAhead,2
  • HeadingFromSource,Fix
  • MinTurningRadius,10.16
  • YouTurnUseDubins,False
  • MinFixStep,2.8
  • pidP,132
  • pidI,0
  • pidD,0
  • pidO,5
  • SteerAngleOffset,138
  • minPWM,13
  • MaxIntegral,20
  • CountsPerDegree,138
  • GoalPointLookAhead,3.4
  • MaxSteerAngle,80
  • MaxAngularVelocity,7
  • GoalPointLookAheadUTurnMult,0.7
  • GoalPointLookAheadMinumum,2
  • GoalPointLookAheadDistanceFromLine,0.4

High clearance sprayer with basic pcb and 24v phidgets motor sprayer6.txt

  • Version,3.0
  • LookAhead,2
  • HeadingFromSource,Fix
  • SlowSpeedCutoff,1
  • ToolMinUnappliedPixels,10
  • MinTurningRadius,13.97
  • MinFixStep,2.4
  • pidP,67
  • pidI,0
  • pidD,0
  • pidO,9
  • SteerAngleOffset,164
  • minPWM,9
  • MaxIntegral,20
  • CountsPerDegree,255
  • GoalPointLookAhead,2.4
  • MaxSteerAngle,80
  • MaxAngularVelocity,8
  • GoalPointLookAheadUTurnMult,0.6
  • GoalPointLookAheadMinumum,4
  • GoalPointLookAheadDistanceFromLine,0.5
pid_settings.txt · Last modified: 2019/06/04 00:15 by wtalen