Questions tagged [pid]

Proportional Integral Derivative Controller. A type of control algorithm used in many control situations, especially servo systems.

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Mapping PID output to motors in 2WD line tracker

Recently at a small robotics design competition, a part of the challenge involved line tracking. Our implementation included six photo resistors on the bottom of the base and differential steering. ...
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59 views

Implementation of Velocity Control Algorithm Based on PID

I'm very familiar with the traditional position form of PID. The error is just the difference between some setpoint encoder value and the current encoder value. Although this suffices for basic ...
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46 views

How to create a 4 sensor PID wall follower

I need help creating a 4 sensor PID wall follower, which has two walls either side of the robot and the goal is to keep the robot central and not crash into the walls, the sensors are positioned in ...
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38 views

Implementing a high-level PID controller which uses odometry in diff drive wheeled robot

How I can implement a high level PID controller that uses odometry to couple both motors in a diff drive wheeled robot? This is my try: From the motor controller, I can get the estimated speed in ...
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197 views

Why am I unable to tune the PID parameters on my quadcopter?

I am building a nano quadcopter in X-Configuration with coreless DC motors, 65mm 2 blade propellers and a 1S Lipo battery (860mAh, 25C). The weight of the assembly is around 70g in total. I am ...
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How to make a diff robot (2 traction wheels front and 2 castor wheels back) to go straight?

I’m developing a differential robot. My wheeled robot has two castor wheels in the back and two driven wheels in the front. The motor controller I’m using can handle two motors each with 90 cpr. Each ...
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51 views

Is it possible to make a self balancing robot using small or medium scale integrated circuits?

Almost all the information I've seen about self-balancing robots implies the use of an Arduino to implement the control. I'm wondering if it is possible to implement the control using just small or ...
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86 views

Inverted pendulum controller

I had an exam yesterday, and I was asked the following question: Why PID controller is necessary for stabilizing the inverted pendulum on a cart, why not we just use PI or PD? Now I've seen some ...
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63 views

Compensator design

I got a plant $G(s)=\left(0.13s+1\right)/s^2$ to design a compensator which provides below demands: Settling time : max 2s Overshoot : max %35 Gain margin : min 10 dB Phase margin : min 30 deg ...
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136 views

How to control the velocity of a mobile robot?

I have a differential drive robot whose linear velocity and angular velocity is to be controlled. The current strategy for doing that is: A high level path tracking module spits out the reference ...
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1answer
71 views

IR sensor spacing in sensor array relative to line width

I'm trying to build a line follower bot that follows a 3cm wide black line. I have a line sensor array with 6 analog sensors spaced 1cm apart. This means that in an ideal situation, i.e bot going ...
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effect of three terms of PID controller on output response? [duplicate]

What is the effect of each of the three terms on output response of a pid controller? i mean how will P term shape/effect the output response similarly what is the effect of I and D terms on output ...
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Confused about I and D in PID controller?

I am trying to learn PID controllers from basics and i came to know that "P" term looks for current error "I"term looks for past error "D"term looks for future error I have some how understood "P" ...
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38 views

Fuzzy logic controller for controlling a four-bar linkage

I am trying to design a control system to move a joint of four bar linkage according to desired trajectory. A dc-motor is used to move the joint. Can fuzzy logic controller be used to solve this ...
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37 views

Sampling time selection

I'm trying to design a compensator for a pendulum type plant with arduino mega. As you can see from the picture, the system bandwidth is 9 rad/sec. I calculated the sampling time as ws=10*wb=90, so, ...
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41 views

PID tuning - can't get stiffness without going unstable

I'm trying to tune a low-friction actuator. This actuator is controlled via a 24peak amp drive. I'm running into the problem where the system goes unstable prior to reaching good stiffness. I start ...
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53 views

PID control: zero out integral on error sign change?

I am learning about PID as a novice to robotics (background in software engineering). One common problem with PID is that if the PV is below the SP for a long time, integral term will accumulate a ...
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48 views

PID to control discharging current of battery

i want to maintain battery cell voltage at specific setpoint for that i am varying discharging current by monitoring cell voltage. for that i m using https://github.com/br3ttb/Arduino-PID-Library for ...
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43 views

Helium Balloon Altitude and Velocity Control System

I am designing a helium balloon which implements a control system that can expand and contract the balloon using a motor, thereby increasing or decreasing buoyancy and, subsequently, acceleration. I ...
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63 views

Which controller (PI or PD) is generally more robust to noisy sensor measurements and why?

Assuming no filter is used to measure error (or rate of change in error) with respect to a desired state, would a PI controller more/less/about equally robust to signal input noise compared to a PD ...
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50 views

PID control loop and feedback acquisition synchronization

In many real-time PID control loop application I have seen that the control loop is triggered exactly as the ADC interrupts arrives in order to achieve maximum synchronization between feedback ...
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80 views

Tuning PID controlling car's steering angle

We built a car model with Ackerman steering type for line following task. The distance between rear and front wheels' axes was about 42 cm. Then we tuned PID controller (really just PD: Kp = 0.9, Ki = ...
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378 views

Python PID tuning - Parrot Bebop 2 - Target follower - ROS

I'm developing a PID controller for making the drone follow a detected object. I used as reference these topics: Ttracking-objects-from-camera-pid-controlling-parrot-ar-drone Tracking-objects-...
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72 views

PID control while desiring steady state offset

I have a rather niche application of PID control, and I am looking for ideas on how to solve it. Design Temperature sensor is externally mounted on a liquid vessel's body --> ...
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18 views

Improve altitude control on an outer loop PD controller for a UAV

I'm playing around with using PID control as an outer loop control for the position of a DJI drone in a Hardware in the loop simulator. I have three separate controller instances for each axis x, y, ...
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197 views

Line following robot mathematic model

I'm trying to improve the speed my line following robot. I have made this chassis designs. This is the main prototype I'm working on. Look at the following image. I'm driving the robot with PID, and ...
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50 views

Can P gain too high cause roll of death?

I've been sperimenting with PIDs on my quadcopter and I've noticed that pitch P = 65 causes double front and back flips which looks like a roll of death (or in this case a flip of death) and lowering ...
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51 views

Improving PID gain constants

I have started building and programming my own quadcopter. I used stm32 f103 and right now I'm testing PID controller. The issue is getting right gain constants. I have build a swing and attached ...
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44 views

What is the best adaptive controller for robotic arms?

I have a question that lays on practical experience. What is the best adaptive controller for a robotic arm? Self Tuning Regulator (STR) Model Reference Adaptive Controller (MARC) Adaptive Model ...
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40 views

Real world dynamic problem suggestion for PID [closed]

I need you guys to suggest me a problem that requires to change PID coefficients in different times. Lets say every 1 minutes the environment should change and readjust the PID’s parameters. Note that ...
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67 views

Is there a more accurate feedback loop with less overshoot or disturbances than PID?

So I was starting a robotics project and turns out that PID hasn't served very well in the past. So I was wondering if there was another feedback loop mechanism which has less overshoot and is more ...
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39 views

Equal proportional and derivative gains of PID [closed]

Is it common to take equal values for the proportional and derivative gains of a PID controller? if so what does it mean?
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482 views

How to limit large acceleration and jerk from PID controller?

I am trying to control a robotic arm with force input. The output of the force sensor is filtered, and fed through a PID controller to command the end-effector velocity. However, the robotic arm has ...
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76 views

Loop time for self balancing robot

I have been working on a self balancing robot and there are quite a few parameters and one of them is loop execution time (t_loop henceforth). To my understanding, the smaller t_loop, the better it is ...
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158 views

How a quadcopter pitch/roll impacts thrust?

I'm thinking about how a quadcopter flight controller works, and I usually see that each motor speed is determined by a formula like: ...
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116 views

How can i find and install (acspid) python PID library

How can i find and install (acspid) python PID library in the folowing code import acspid pid=acspid.pidcont(1.2,0.02,0.01,5,-5)
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128 views

Why won't my PID line follower work?

I'm trying to implement a PID based line follower. The robot has 2 line sensors with ranges from 0-200, with 0 being black and 200 being white. I'm trying to follow a black line. I'm struggling to ...
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544 views

Self balancing robot: PID Control Algorithm

I am working on a hobby project for self balancing robot. My robot balances quiet well, so my next step is to start moving it. I saw in some blogs that they used a cascade control algorithm as shown ...
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Connect 2 motor controllers

i have programmed for my two wheeled robot 2 separate controller for each wheel so that afer approx. 1 second both motors reach my desired speed. But my problem is that one of those motors is faster ...
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64 views

Tackling loops and discontinuations in PID line follower

We are making a PID line follower using arduino for a competition. According to the rules of the competition they will have loops and discontinuations in their track. Can anyone give some idea how we ...
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how to introduce 2 inputs into a matlab block function that processes only one variable at a time? [closed]

Using SIMULINK, I wanted to optimize 2 variables with the ant colony optimization algorithm; which is written in a matlab function block, the function is of type function y = f (x) it has only one ...
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46 views

PID Tuning. Does Setpoint Affect Gain for Tuning

So I understand that a heuristic way of determining values for PID would be to use the Ziegler method, having zero I and D and then adjusting P until you have oscillations. Wouldn't the setpoint ...
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514 views

Encoder values for PID control

I'm working on a two-wheeled robot and I'm trying to implement a PID control for the motors. But I have a problem, all sources I found online said I have to calculate the error with my encoder values. ...
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79 views

Making a robot go in a straight rate - sampling rate for motor PID

I'm trying to build a robot/rover based on Raspberry Pi 3 At the moment I'm straggling with a basic driving in a straight line. I'm in a process of tuning my PID code andI'm not sure what sampling ...
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143 views

Multivariable PID controller

I'm making a robot that uses two DC motors to move, and has two distance sensors on its right side. I want to make a PID controller to control the angle of the robot (using a wall as reference) and ...
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71 views

PID control related to lagrange equation

I'm a beginner in robotics and so far followed the lecture series by Prof. Oussama Khatib and some blogs and papers. currently I'm following this studywolf blog. in the end I plan on building a simple ...
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294 views

Problem with tuning PID for motor

I am trying to tune my PID to make my motor have a consistent output: input(pidOutput) => 100rpm I used the following step to tune my PID: Set all gains to zero. Increase the P gain until ...
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122 views

Meaning of a negative step response with quaternion

It's not technically robotics but: I've been trying to reproduce in Simulink a spacecraft attitude simulation using quaternions, and the kinematics and dynamics seem to work fine, however I'm having ...
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156 views

stable altitude quadcopter

I'm currently working on a project to generate a stable altitude and automatic control for a quadcopter I'm using arduino as the flight controller Ultrasonic sensor HC-SR04 MPU-6050 However my ...
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1answer
36 views

Which controller to use for custom servo?

I am trying to build a microcontroller based higher payload version of a servo motor using geared induction motor with VFD as a control device. For this purpose I have selected a 1HP motor running at ...

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