Questions tagged [pid]

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

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53 views

Motor acceleration and position with PID control

I'm working on a robot with differential drive (2 drive wheels equipped with rotary encoders and 4 free spinning omni wheels for stability) and each wheel is controlled via a separate arduino nano. I ...
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1answer
664 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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45 views

PD controller tuning for flexible joint robotic arm

I am trying to tune the gains of my PD controller for a single axis flexible joint robot. The controller output is the motor torque. My question is: how can i tune the PD gains if the output (torque) ...
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54 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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52 views

Quadcopter bldc PID control

Working on stabilizing a Quad using Arduino Due. I have slightly modified one of the examples of Jeff Rowberg's library to give yaw, pitch and roll angles (zero initialized angles). Moreover, I am ...
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219 views

Treatment of euler angles in quadcopter control

In most implementations of quadcopter control systems I've seen, each axis of the quadcopter is controlled independently. For example, to control the rate in the roll axis, the desired output is ...
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239 views

Is it my PID that is unstable or my physical system? (Quadcopter)

I've been working on this Arduino-MPU6050 quadcopter for a while now, and it looks like it's close to being finished. I have programmed it in rate mode, so the PID's control the rotational velocity. ...
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80 views

Quadcopter takeoff when low throttle /w PID

I'm making my own quad controller from scratch. I have fixed one axis on a "pendulum" so that only one axis can move freely ( + mode). Let's say that I have 0 throttle. As you know PID output is added ...
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86 views

PID tuning for Quadcopter

I have been stabilizing my quadcopter. I tuned my angle PIDies and my quadcopter tries to stabilize itself, but there is some overshooting. Which is, I think, due to gyro rates. I have read that we ...
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494 views

RNN instead of a PID controller

I am building a drone using the raspberry pi and I am using 6*PID controllers to control the speed and the value for each angle, can I use a recurrent neural network (RNN) or other neural network to ...
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85 views

How do i use the Nicolas ziegel approach if my system never becomes unstable?

How do i use the Nicolas Ziegel approach when the root locus plot of my system never becomes marginally stable , for any gain (unless it is negative).. ?? How do i estimate my ultimate gain value????
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199 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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30 views

To calculate roll,pitch and yaw

How do I calculate roll,pitch and yaw value from the position co ordinates of the drone, that is x,y and z from the gps sensor??? Using the x,y and z co ordinates I have to calculate roll,pitch and ...
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23 views

Imaginary part in result of inverse laplace transform

I am working with a system(closed-loop feedback control) that has a transfer function like this F = 20*(s+5)/(s^4+13.5s^3+41s^2+80*s+100) this one is in the s-domain but for the response analysis, I ...
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1answer
30 views

Finding the right PD values for a quadcopter simulator

I am working on this short assignment where I have to find the right PD values for a simulated quadcopter. I have to reach 0.9 meters under 1 second with an overshoot of less than 5%. This is my ...
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18 views

PID on DC motor turning on both directions

I have a skid steer robot where I have four individual DC motors with an H bridge so I can control speed and direction. There are also four quadrature encoders with 6000 ticks per revolution. The ...
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1answer
37 views

PID control brushed motors via PWM using Encoder Clicks at SetPoints/Measurements

I've read numerous posts (1 , 2, 3 ) about using PID to control motors. All examples I've seen deal with the control signal being in the same units as the measurement signal. For example, use PID to ...
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6 views

Can badly tuned Feedforward still decrease following error?

Let's say we're trying to control the speed of a motor to 20 revs/sec, and we know that our controller output for that speed is approximately 5. We currently have a Proportional controller to drive ...
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Tuning a cascaded attitude and attitude rate PID controller

Assume that I have an object in 3D, and I want to have a controller that stabilizes its orientation (also referred to as "attitude"). To be sure we are clear: attitude is measured in "degrees" or "...
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24 views

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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56 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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85 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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203 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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43 views

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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66 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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1answer
74 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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1answer
143 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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1answer
163 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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1answer
184 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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114 views

Pole placement gains tuning

given my control system I have found the region of the complex space that satisfies my specifications, determining poles position in 0.5 +- 0.2i. Now I want to find the gains that fix the desider ...
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1answer
353 views

PID vs Fuzzy line follower

I am making a line follower to follow a white line (approx 1.7 cmm wide) on a black track. I am using an array of 5 TCRT5000 (IR led+phototransistor) to detect the line. I was previously working with ...
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65 views

Quadcopter accelerating or not

I am on the project quadcopter. So i have to use PID for stabalizing it. I think i am going wrong because i am adding the pid output to motors thrust. While the motors thrust means to be its ...