PID motor speed control, integrating motor control feedback to loop [closed]

asked 2019-07-04 09:54:32 -0600

wintermute gravatar image


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.

edit retag flag offensive reopen merge delete

Closed for the following reason question is off-topic or not relevant. Please see for more details. by gvdhoorn
close date 2019-07-05 09:25:08.624109



Can you please clarify how this is related to ROS? This sounds like something you should be asking on a more general site like 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.

gvdhoorn gravatar imagegvdhoorn ( 2019-07-04 10:50:45 -0600 )edit