With the interface set, the next step is to define the ECC and the algorithm.
The interval is the time between requests to the FB and is expected to be constant. This allow to easily zero the integral part. The interface uses Kp, Ki and Kd as constants to be tuned instead of the times Ti and Td. In the pop-up menu, choose the parent folder to store the new FB, choose PID as the Type name, and select Basic as Type.Ĭlick Finish, and the view to edit the new FB opens.
The first thing to do is to create the PID Function Block. The implementation shows all the steps from creating a PID Functional Block in 4diac IDE, up to tuning the PID controller and printing the values in a graph.Ī basic usage knowledge of Eclipse 4diac is necessary to follow through the steps. The position of the motor will be controlled using PWM. In this tutorial, an implementation of a PID controller for an EV3 motor is presented. PID control on motor position Implement a PID controller for the position of an EV3 motor
