Questions tagged [pid]
Proportional Integral Derivative Controller. A type of control algorithm used in many control situations, especially servo systems.
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wheels dont move at the same speed
I'm working with ROS2 Humble and Gazebo 11. I'm doing a 4 wheel robot with Ackermann steering using the gazebo_plugins_Ackermann. The thing is I copy the example of Gazebo for this kind of car from: /...
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How to tracking an object with eye in hand pan/tilt robot using pid controller and depth camera
I have a problem in my thesis, that is the stepper motor is limited in movement when following an object, the second problem is that when I use the pid controller, the center of the color image ( is a ...
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ros2_control diff_drive_controller PID?
I followed ros2_control diff_drive_example https://github.com/ros-controls/ros2_control_demos/tree/master/example_2 to bring my ROS1 robot to ROS2.
I notice there is a PID controller (pid.cpp and pid....
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Robot Control Algorithms for Precise Positioning
I am currently researching the optimal controller algorithm to navigate my robot to a specific x and y position within a specific coordinate frame with a high degree of accuracy, approximately 5mm. ...
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Control holomonic robot position XY and orientation with 3 PID
I'm really new in robotic field trying to learn new stuff. I have a holomonic robot (with 3 omniwheels) that i wan't to move around. I already have a lidar that gives the XY robot position and it's ...
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How to compensate integral anti-windup in PID temperature controller with current limiter?
I have a PID temperature controller that outputs a voltage to heat the system up and I would like to add current limiter as I assume I don't know the resistance of the heater.
The PID controller has ...
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Arduino-based Drone Project: Struggling with Altitude Control
I've been working on a DIY project which involves creating a drone from scratch. My aim is simple yet challenging; I want the drone to ascend to a specified altitude, hover for a few minutes, then ...
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Difficulty with tuning motor PID controller [closed]
I am struggling for a while now with tuning PID control on my motors. I have bought different motor driver boards better motors etc but still I am unable to get a good control on the motors.
What I am ...
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How to control a 4 wheel mechanum wheel robot with PID?
I have a robot with 4 mechanum wheels. I implemented a pid controller on each wheel and as a result it doesn't drive straight. When I send a command to simply move in the x direction forward, it ends ...
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Drive to point PID doesn’t work properly
This is my first post here. I am trying to get a robot I’m working on to drive to a point via a PID controller. My code works fine if the point is in front of the robot, but completely falls apart if ...
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Recording controller output
I am a new to the field of control systems.
In real life systems, such as process industry or continuous manufacturing, where large number of feedback control loops are present - is controller output ...
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PID controller error calculation when the setpoint and the process variable both grow over time
Suppose I have a robot which can perform some work and be rewarded with a point 50-70% of the time. I want a different number of points to be collected every hour of the day. This is modelled using a ...
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How to: implementation problem with Position control on a 3 Wheels robot (2 motorized) with velocity profile of trapezoid
I'm trying to apply position control in a wheeled robot, controlled by an arduino mega.
The robot has two wheels powered by two dc motors (1 motor for each wheel) and one castor wheel.
In order to ...
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Object tracking using PTZ camera with PID Controller
I'm trying hard to implement an object-tracking algorithm on a PTZ camera. For this, I have chosen to use a PID controller for error correction.
In my case, the set point value is the center of the ...
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Extended Kalman Filter and PID controller
I'm trying to build a model based on tracking an object in 2-D using MATLAB (time-varying system).
I built the model using an Extended Kalman Filter and a PID controller.
I have a doubt regards the ...
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Does PID controller work on every actuator
I am new to PID controller, so I got very confused. I am trying to solve the Cartpole problem. I saw this simple solution for that. I don't understand why that guy used sigmoid to determine which ...
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Stabilizing water bucket with two retractable cables and motors
I am trying to design a system in which a bucket of water is held by two cables, lifted up/down while remaining stable. The cables can be retracted/detracted by two individual motors, controlled by ...
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PID controller for slowly varying system [duplicate]
I am making a robot that is required to move in a straight line, but it is slowly turning on the left or right, this error keeps accumulating (eventually resulting in a very large radius turn). So, ...
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Impact of using PID Output as a Change (Delta) vs Absolute
I am trying to control speed of a motor using PID. It seems like I have two approaches.
Using PID to calculate the absolute duty cycle value of the PWM
Using PID to calculate the change needed in the ...
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How to use a PID controller for different kinematics robots
I implement different drive odometry for a robot. Trying to implement (proportional–integral–derivative controller) PID-based coordinate movements x, y, theta:
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Cascaded PID controller implementation
For a project I am building and programming my own flight controller. I have seen the implementation of a single loop PID controller. But after doing some more research I've found that a cascading PID ...
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How to Contol the RPM of a Micro Metal Gearmotor with Encoders (Pololu) using PID?
I use the PID algorithm to control the RPM of a micro Gearmotor. My motor and encoder specifications are given below.
Motor: https://www.pololu.com/product/2378 - 6V 29.86:1 gear ratio - please ...
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How is named a controller that sets a position to reach with a constant velocity?
I looked everywhere I could but didn't find a useful answer, so let me explain here:
My controller is giving a position goal, and while this position is not achieved, the linear actuator is controlled ...
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No p gain specified for pid
I have made custom urdf for 6 DOF robot, when I run it it shows this error
I have added ros control to this this is the YAML file
robot:
#list of controllers
joint_state_controller:
type: ...
harish556
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Differential Drive Control Techniques
I have a mobile robot that has a differential drive technique. I try to control the robot with PID controller. Is the best way for controlling differential drive robots?
If I want to compare different ...
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control of a rod attached to a motor
I have a 76 cm, aluminum rod, attached to the shaft of a 12v DC banebot motor. The rod is hanging vertically initially, and rotates in the vertical plane. The task is to control the rod to make it ...
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How to avoid oscillations caused by backlash in position control?
I am working with a ball screw mechanism driven by a brushless dc motor with an encoder mounted on the load side. We are using a PID position controller with tuning settings by optimization however ...
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Center line steering with differential drive
I’ve got 2 motors that drives my unit and I can easily steer it manually by simply adding more speed to one wheel vs the other.
Now I’m automating the rover using image processing to follow a driveway....
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The math behind minimum controller sample rate compared to actual error frequency spectrum
It seems intuitive to me that, in a digital system, a system sampling the error rate "too slowly" will fail to stabilize the system.
Is there a theory/set of metrics/equation I can use to ...
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Strategies for tuning with low sample rate
I’m designing an arduino robot that’s objective is to find and drive towards a light using a photo resistor mounted on a servo. I want to write my program with PID control to sweep the photo-resistor ...
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How do I find the transfer function for my quadcopter altitude system?
This is not so much of a how but if I am right so far. I am looking at the z-axis now only. The linearized equation of motion for the thrust in the z-direction is:
$$
T=m\cdot \ddot{z}+mg,
$$
where $m$...
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Outer Position Loop to Control Inner Velocity Loop
I'm trying to control the position of a brushless DC gearmotor. To drive the motor, I have a controller box that provides a velocity that is proportional to a 0 to 5 V input. The motor has it's own ...
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PID control for robotic manipulator servoing
I'm trying to enable robotic manipulator servoing using MoveIt servo implementation.
However, I'm having some questions regarding reference following and error compensation.
The thing is, I roughly ...
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Self balancing bike using a flywheel: ROS implementation
I have a bike with two stands and a flywheel like this:
The stands can be adjusted so that they don't touch the ground. Now, the task is to implement a self balancing mechanism: when I run the script,...
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Implementing PID on a line following bot using turtlebot
I am using ROS melodic,turtlebot 2 on Ubuntu 18.04.
The idea is to create an environment consisting of lines as a path (slightly curved), and to program the turtlebot to follow the lines. Basically, a ...
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Mapping Joystick Inputs to Quadcopter
hope you are all doing well.
We are doing a project where a quadcopter is controlled by an ordinary joystick. We have constructed the Control Algorithm and the joystick to move the quadcopter in ...
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Bug in code of Self-Balancing Bot
I am making a Self balancing bot as my project in which I am using MPU6050, Arduino Uno, motor driver l298n and DC motors.
I am making this using data from accelerometer and gyroscope and combining ...
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Identifying active PID-Controller parameters
A metric of a physical system is being controlled by a PID controller (in this case a valve controls the temperature of a liquid by mixing hot liquid into a stream of cold liquid). All measurement ...
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Rotate a certain angle using PID and mpu6050
Currently I'm working with a 4 wheel robot and I'm trying to rotate a certain amount of angle. I used PID_V1 library to rotate this. But when I upload and test the code Robot rotate continously.
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How to design a PID controller for boat?
I have a boat with two trusters and a trajectory planner which is based on the bicycle model. In order to control the boat, the linear velocity of each truster has to be provided.
The following ...
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Robots Following Robots with Safety Distance Planning and Coordination
I have two robots, I wish for the second robot to follow the first one while keeping a constant distance d_safe between them. I am trying to implement a PID ...
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Find viscous friction for DC motor transfer function
How do I find the viscous friction for my DC motor without measuring the input current and output torque.
I have to do a theoretical model on simulink and can't find any answers on how to find it
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How to implement PID position control for 4wheel mecanum robot?
I want to implement PID control on my 4 wheel mecanun robot. I want to give a position instruction to my robot and that it follow the following curves of velocity and position. The only feedback that ...
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Inner current controller benefits
I am currently working on a system with a BLDC motor attached to a non linear spring on which a user can apply a force. Meaning the torque applied on the motor's output is most of the time unknown.
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How to choose closest angle when crossing -180 degrees
I'm applying a PID for position control on a diff drive robot, got the angles (orientation )between -pi and pi. It works fine until it needs to change its orientation from (let's say) -170 degrees to ...
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PID controller for motor speed control and distance control
I am building a robot rover comprised of dual DC motors each with hall sensors to obtain rotaional speed. I currently have a PID controller for each DC motor that is able to control the speed of the ...
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How to prove the stability of trajectory tracking with PD control using Lyapunov method?
I'm having a problem to prove the stability of PD control in trajectory tracking. Let say we have a system with double integrator dynamics and we what to minimalize the tracking error $\tilde{x} $.
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Quadcopter descends when rolled or pitched
I'm currently working on a quadcopter using f450 frame and YMF32 code. I was able to successfully build the quadcopter and It flies without having any vibrations or wobbles. Also, I tuned the PID ...
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PID Control: Is adding a delay before the next loop a good idea?
I am implementing PID control in c++ to make a differential drive robot turn an accurate number of degrees, but I am having many issues.
Exiting control loop early due to fast loop runtime
If the ...
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