dji RoboMaster EP, Programming Manual

Page: 184 / 187

183
Function Features Weakness
Proportional
Control(P)
Amplifty or weaken the error
signal. Proportional
coefficient determines the
strength of control.
The larger the proportional
coefficient, the more responsive
the system becomes. But may
oscillate and destabilize the system
if the coefficient is too large. Cannot eliminate the
steady-state error of
the system, lowering
the relative stability of
the system.
Integral
Control(I)
Affect controller output with
error accumulation, and
reduce deviation with
negative feedback of the
system. It is related to the existence period
of the error signal. As long as there
is enough time, the integral control
can eliminate the steady-state
error.
Fail to overcome the
effects of interference
in a timely manner.
Differential
Control(D)
It can reflect change of speed
of the error signal, and have
immediate control when the
error just occurs.
Helps reduce adjustment time and
improve system quality.
Cannot eliminate the
steady-state error of
the system.
Find out more about PID in the RoboMaster app by searching for the "Seek & Destroy" project in the Road
to Mastery section.
Python API
：
Class: rm_ctrl.PIDCtrl()
●
Function:
■
set_ctrl_params(kp, ki, kd)
●
Parameters:
■
kp(float)
■
ki(float)
■
kd(float)
(1) Objective: Obtains the output value for a PID
(2) Type: Information block (variable-type)
(3) Example: Follow Vision Marker