Re: P.I.D. Loop

["joe bury" <joebury-at-hotmail.com>]

Pete,
  This sure goes a long way to understanding P.I.D.
                                  Thanks
                                    Joe


>From: "Pete Cook" <pete.cook-at-alltracorp.com>
>Reply-To: emc-at-nist.gov
>To: Multiple recipients of list <emc-at-nist.gov>
>Subject: P.I.D. Loop
>Date: Mon, 11 Feb 2002 14:11:22 -0500 (EST)
>
>
>Got this info from Designing With Motion Handbook by Charles Raskin, PE Nov
>1994
>
>P or Proportional Gai = (Kp) (error)
>
>It compensates for immediate changes in servo position error position.
>
>I or Integral Gain = (Ki) (Last Error Total +- New Error)
>
>Compensates for following error as the move progresses.
>
>D or Derivative Gain = (Kd) (Error - Previous error)
>
>Compensates for the error in the last update period. Compensates for 
>changes
>in load or direction.
>
>Hope this helps water down the mud...
>
>Pete
>
>


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