PID motor speed control, integrating motor control feedback to loop [closed]
Hello,
I have implemented a pid controller for controlling speed of a N20 motor with gearbox and encoders. The motor drivers I use also allow me to measure and monitor the current used by motors.
I wonder if I can introduce this current feedback into PID loop, and make a variation of PID algorithm.
Like when the robot is stationary and motors have just received a command, the current consumption peaks, until the dead zone has passed. I wonder this kind of data be used for better control, gain scheduling, etc.
Best regards, C.A.
Can you please clarify how this is related to ROS? This sounds like something you should be asking on a more general site like
robotics.stackexchange.com
or even a more suitable forum dealing with controls.I'm closing this for now, but you should still be able to edit the question. If/when you clarify and this does appear to be a ROS question, we can re-open.