Questions tagged [pid]
Proportional Integral Derivative Controller. A type of control algorithm used in many control situations, especially servo systems.
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Unable to get turtle2/pose data using subscriber callback ROS2 Turtlesim
I am using Turtlesim in ROS2. But I am unable to get pose data of turtle2 using pt_pose_callback function which is subscribed to /turtle2/pose . I have checked on Terminal and I am able to get data on ...
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Use ROS2 PID Controller with External State
I want to use ROS2 control PID controller plugin with my external sensor. The documentations mention how to configure the yaml file and I did mine as follows:
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Pid controller with encoder feedback for tank steering
I'm struggling to find a solution for my problem. I would like to write a simple PID controller in C/C++ that accepts a speed in RPM and controls the motors by receiving the feedback from the encoders....
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Limit I_error in ROS2 PID Controller to Prevent Windup
I am applying ROS2 PID controller on my motors, however - due to my setup - the integral error keeps growing. I set I_clamp max and min to the controller to prevent high values but since the I_error ...
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How to Configure a PID controller Yaml file in ROS2_Control
In this page of the documentation of ros2 control There is no mention of how to make the PID controller actually work. If I run the yaml file example provided
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MySQL connection error and PID error (Mac M1)
I have two issues when starting MySQL for the first time. I've tried changing permission level as stated in several advices on Google but never worked for me.
I've downloaded ARM version which is for ...
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PID Control on differential drive robot
I have tried to control the Pioneer robot in Webots simulator to follow the static target. This is the code I have developed. My main goal is to make a go-to single goal controller. The problem is ...
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What would be a good objective function to tune a PID controller in a 6 DOF robot manipulator?
As stated above, I am currently trying to tune the PID in a controller for a robot arm (the input of the plant is torque, and the output is its state).
I first practiced with a single joint (1 DOF, a ...
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How should I optimize a PID in Webots correctly?
As stated above, I need to optimize the PID gains (the feedback) in the torque controller for trajectory tracking I am currently doing.
This is what I have done until now:
Begin simple, with just one ...
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Stability for an adaptive PD controller
I have an adaptive PD controller, of the form:
$$
\tau = K_p(\mathcal{L}) \; q_e \; + \; K_d(\mathcal{L}) \; \dot{q}_e
$$
where $\mathcal{L}$ is the energy of the system. Even though the PD gains are ...
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Why are PID values have no effect on position_controllers/JointTrajectotyController?
I read on this website https://www.rosroboticslearning.com/ros-control that PID values have no effect in the case of using position_controllers/JointTrajectoryController. Is this true? If the answer ...
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Is it acceptable to convert the optimized control input state (acceleration) from my Model Predictive Controller to position
Good day,
I hope you are well. I currently have an MPC position controller that optimizes a set of control input accelerations given a trajectory.
u = [Ux_dot_dot Uy_dot_dot, Uz_dot_odt]
However what ...
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CubeSat: When designing the PID Controller of the CubeSat, what are some constraints that you need to take into account?
For a 1U CubeSat project in which we need to design the controller for it.
We decided to not include any propulsion system to keep it light, we'll just essentially drop the satellite on LEO and let it ...
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Ros2_control PID controller
I have a ros2_control hardware interface that I made based on the ros2 control demos repo. However it's just an open loop controller and I'm trying to figure out how to implement the PID portion based ...
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PID Control for multiple control dependent variables
I am working to control the force output of a 3PRS parallel robot. (Linear force along z, moment about x and y). The primary goal is to keep the force output in the linear z direction constant (30N) ...
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F450 Quadcopter frame torques
I'm building a quadcopter and programming it's flight controller which is running on a RP2040.
These are its main characteristics:
Frame: DJI F450
Radio: FlySky FS-I6
IMU: Adafruit BNO055 Breakout ...
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Hexacopter Simulation
I am doing a project to simulate a hexacopter with the mathematical model and its dynamics with PID. I've got the theoretical knowledge but am stuck on simulation. Would any of you happen to have any ...
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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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