P3AT机器人相关参数

记录P3AT机器人相关参数及操作

轮胎气压：

All Pioneer 3-DX robots come with foam-filled solid tires with knobby treads.7 Pioneer 3-AT tires are pneumatic so that you may configure your robot for differing terrains. In any configuration, be careful to inflate the 3-AT tires evenly and adjust the respective DriftFactor, TicksMM and RevCount FLASH parameters for proper operation. We ship Pioneer 3-AT’s with the tires inflated to 23 psi each.

参数文件：

For Pioneer 3’s, the ARIA-parameter file’s names are p3dx-sh.p or p3at-sh.p.

PID参数：

The P-term value Kp increases the overall gain of the system by amplifying the position error. Large gains will have a tendency to overshoot the velocity goal; small gains will limit the overshoot but causethe system to become sluggish. We’ve found that a fully loaded robot works best with a Kp setting of around 15 to 30, whereas a lightly loaded robot may work best with Kp in the range of 20 to 50.

The D-term Kv provides a PID gain factor that is proportional to the output velocity. It has the greatest effect on system damping and minimizing oscillations within the drive system. The term usually is the first to be adjusted if you encounter unsatisfactory drive response. Typically, we find Kv to work best in the range of 10 to 30 for lightly to heavily loaded robots, respectively. If your robot starts to vibrate or shutter, reduce Kv.

The I-Term Ki moderates any steady state errors thereby limiting velocity fluctuations during the course of a move. At rest, your robot will seek to “zero out” any command position error. Too large of a Ki factor will cause an excessive windup of the motor when the load changes, such as when climbing
over a bump or accelerating to a new speed. Co