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docs: fix capitalization

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topquark12 2021-01-07 13:32:21 +08:00
parent 7d04ad5b7c
commit 176b99694c
1 changed files with 4 additions and 4 deletions
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documentation/PID tuning.md
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@ -36,9 +36,9 @@ Below are some general guidelines for manually tuning PID loops. Note that every
1. To start the manual tuning process, set the kp, ki and kd parameters to 0. 1. To start the manual tuning process, set the kp, ki and kd parameters to 0.
2. Begin by increasing kP until the temperature begins to oscillate. Offset between the target temperature and the actual temperature can be ignored for now. 2. Begin by increasing kp until the temperature begins to oscillate. Offset between the target temperature and the actual temperature can be ignored for now.
3. Reduce kP by 30%, increase ki until the offset between target and actual temperature is eliminated. 3. Reduce kp by 30%, increase ki until the offset between target and actual temperature is eliminated.
4. Increase kd until the maximum allowable amount of overshoot is observed. 4. Increase kd until the maximum allowable amount of overshoot is observed.
@ -60,11 +60,11 @@ After some time, the auto tuning utility will output the auto tuning results, be
Ku: 0.7553203471147422 Ku: 0.7553203471147422
Pu: 75.93899999999977 Pu: 75.93899999999977
rule: ziegler-nichols rule: ziegler-nichols
Kp: 0.45319220826884526 kp: 0.45319220826884526
Ki: 0.011935690706194357 Ki: 0.011935690706194357
Kd: 4.301870387965967 Kd: 4.301870387965967
rule: tyreus-luyben rule: tyreus-luyben
Kp: 0.3432930977636503 kp: 0.3432930977636503
Ki: 0.0020549280832497956 Ki: 0.0020549280832497956
Kd: 4.137825730504864 Kd: 4.137825730504864
. .