PID & Simple - talk about a contradiction in terms!

After 10+ years of working with PID control I think I am just starting to
truly understand it. Jen & I are very close to implementing a new algorithm
for PIC18, but I would like to re-read your posting in the AM (it has been a
16 hr. day following a rush job working weekend) before commenting. With
some more Q & A on your aplication, I'll bet we can help. As a scuba diver
and having a few underwater projects under my belt, I can see some unique
challenges in buoyancy control of an AUV. If you don't have this solved by
then, I'll have a few more Q's related to the application. I believe the
depth will be the most difficult since the vessel has positive buoyancy and
you do not mention buoyancy control other than drive motors. Will the
vertical drive maintain a modest output when the correct depth is reached?


C

> What we are lacking is a PID (or PI or PD or whatever)
> algorithm to allow us
> to dive to a fixed depth and then follow a given compass
> bearing.  Given the
> late date we are in need of some quick, readily implementable
> advice on how
> to do this algorithm.  We certainly have the desire to learn
> the in's and
> out's of control theory, but obviously do not have the time
> for that now.  I
> am hoping some people of this list will help walk me through
> implementing a
> control algorithm that will meet our needs.

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