3.4.2 PID controllers
Course subject(s)
Module 3. Creating Movement: Making the Exoskeleton Walk
In this video, we will explain more about one type of controller, the one we use in our exoskeleton: the PID controller.
PID controllers video
In the video on PID controllers, you have seen the effect of P-action and of D-action. The video explained that the P gain looks at the error at every instant, while the D gain looks at the rate of change of the error and corrects for that. But we have not told you yet what I-action does exactly. You will try to find the answer yourself in this exercise. The URL below will take you to an external website containing a simulation of a PID controller. This website contains a reference trajectory (blue), and you can adjust the P, I and D values to tune the actual trajectory (green).
Play around with the slide bars of Kp, Ki and Kd (the three lower slide bars). Leave the first two slide bars (setpoint and noise) as they are. Do you see the effect of P and D action as described? And what do you think the result of I-action is?
Project MARCH: behind the technology of robotic exoskeletons by TU Delft OpenCourseWare is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
Based on a work at https://online-learning.tudelft.nl/courses/project-march-behind-the-technology-of-robotic-exoskeletons/