This is my analogy for expaining PID control. Car analogy is somehting most people understand.
I may have written this before elsewhare. Finally wrote it again? after watching this dude:
https://forum.dronebotworkshop.com/2021/build-a-custom-servo-motor-with-a-dc-motor/
— Raw:
My PID describer… think of driving a car., everyone knows how to drive a car, and while doing so, they’rte doing a couple of PID loops without really knowingit. Steering and speed control (assuming not using cruise control).
measuring – using a few diffent methods 9 line up hood ornament to side of ride, left endge of car hood vs the centerline, putting my foot left on the left-sde groove on te roadway, etc. we “measure” the error
P – the larger the error (the further you are pointing away fromthe desired direction
D – the slope of thw line of your direcretion change is happening (the derivitive) is subtrat4ed from the correction outoput; if you are still moving away from the correct direction, turn harder. once your heading towards the desired direction, you reduce 9hence the subtraction or the negative value if D reduce the output since you’re getting there. this reduces overshoots, but too much slows the response.
I – over time, s the error under the curve (the integrl) increases, you will turn harder to make more correction.
also, I think you need to to the D value being subtracted at the summing junction; makes it more obviouis that D is a dampener.
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