Changing PID parameters on the fly?

[jihuang]

In my system, it is very unfortunate that I should change PID parameters all the time. Fer example,
in order to follow circular paths with small r values, the PID values should be larger to ensure the
tracking capability. The PID values should change to smaller values to prevent excessive oscillations
for following straight lines.
Due to the change of PID values, the motion path will vibrate during the change of PID values.
Is there any way that I could smooth out the vibration of motion paths due to PID parameter changes?

[algames]

If the difference between one set of parameters and the next is very large then you might see this kind of oscillation, especially if the change is happening in Kp or Ki, try changing them a little less abruptly to see if this reduces the oscillation.

Best regards,

Alex Games