This video is the demo that goes with an excellent introduction to PID tuning from my friends in the Lego robotics world. KP, KI and KD are the P, I and D gain constants.
Tc , probably the time step , no need to adjust needs to be reciprocal of loop Hz.
Kc , not sure check with Chris . probably another const .any rate the P ,I and D are the variables that need tuning.
think of it this way . P is the direct response to error .I is a incremental/time response and D is a speed response
BTW D is usually a small fraction of P you would never see it as high as 90 when P is only 10 . they must have that adjusted in code.
Comments
Kc , not sure check with Chris . probably another const .any rate the P ,I and D are the variables that need tuning.
think of it this way . P is the direct response to error .I is a incremental/time response and D is a speed response
BTW D is usually a small fraction of P you would never see it as high as 90 when P is only 10 . they must have that adjusted in code.
The Ziegler–Nichols tuning method is a straight forward technique but, related to tuning UAV’s, how do you calculate the Kc and Tc?