Pro Arduino by Rick Anderson & Dan Cervo

Author:Rick Anderson & Dan Cervo
Language: eng
Format: mobi, epub
Tags: Hardware, Technology & Engineering, Computers, Robotics, General
ISBN: 9781430239390
Publisher: Apress
Published: 2013-06-12T04:00:00+00:00

Figure 7-5 . Proportional control: Kp = 1 (left) and Kp = 7 (right)

Figure 7-6 demonstrates the addition of the integral component, making a PI controller. The left side of the figure shows that a lower Ki gain produces a slower controller that approaches the setpoint without overshoot. The right side of the figure, with a gain of 2, shows a graph with a faster rise, followed by overshoot and a ringing before settling at the setpoint. Setting a proper gain for this part is dependent on the needs of the system and the ability to react to overshoot. A temperature system may need a lower gain than a system that controls positing; it is about finding a good balance.

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