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pid_settings [2019/06/04 00:15] (current)
wtalen created
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 +====== 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