Questions tagged [pid]

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

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86 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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16 views

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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64 views

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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78 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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1answer
51 views

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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3answers
394 views

What is the actual physical actuated quantity when controlling the position of a servo?

I'm trying to learn about servo control. I have seen that the most generic position control method for servos is PID, where the control input is position error. However, I am not sure about what is ...
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2answers
192 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
853 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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2answers
49 views

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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1answer
47 views

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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169 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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21 views

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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148 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
59 views

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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2answers
38 views

Reliably enabling/disabling a PID loop via FSM in a microcontroller

I have a PID loop for a small vehicle implemented in a microcontroller. Currently the PID loop is implemented in a timer interrupt. I want to implement an FSM that will have states that enable or ...
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1answer
111 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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65 views
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79 views

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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1answer
180 views

PID controller that targets a set rotation and a set velocity at that rotation?

I have a 3d physics simulation where I use a PID controller to reach a set orientation (orientation error drives a torque output). Which works well enough some cases, but in others it's not working ...
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1answer
99 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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1answer
139 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
130 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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2answers
1k 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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1answer
397 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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1answer
24 views

Can badly tuned Feedforward still decrease steady-state 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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1answer
49 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
58 views

Can I measure torque from this motor by only measuring the current?

I am new to robotics, please forgive/correct any errors. My Project Plan I want to use a PID controlled motor in a human-interface device where I need to measure the user's exerted force on an end ...
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2answers
51 views

High derivative gain in PD control

Why does high derivative gain in PD control results in motor noise or chatter? The graph that I see on MATLAB simulation is smooth enough, so following that it should not make noise..
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1answer
41 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
32 views

What is the difference between The state-space equation and The configuration-space equation

The craig(p.180) states that equations can be made to represent the dynamic equations. The first one being the state space equation. $\tau=M(\Theta)\cdot\ddot{\Theta} + V(\Theta,\dot{\Theta}) + G(\...
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3answers
113 views

Quadcopter PID Controller for distance

I am trying to use a PID controller to stop a quadcopter at a specific location while travelling horizontally, however currently it overshoots/undershoots depending on the max velocity. I have tried ...
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1answer
200 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
193 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
42 views

pid tuning the wheel velocity

I am using diff drive controller to control the wheels of my robot. Here i am trying to use the control toolbox pid class for making the input velocity and velocity measured from wheel encoder to be ...
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1answer
38 views

How to compensate for back drive caused by gravity

I have a 24v DC motor with a planetary gear box, Hbridge, and encoder feedback that drives an arduino robot similar to a winch that moves a weight by spooling a strap up and down. The problem I am ...
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1answer
46 views

Motion profile and Motion control scheme, how do they interact?

I'm studying motion control and I start with the simplest case, I have to go from A to B in a straight line using a trapezoidal motion profile. I understand that in a real case, due to the fact that ...
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0answers
42 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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1answer
6k views

How to find a solution for quadcopter PID control

I've built a quadcopter and a rig to safely test it on. I'm working on the PID for controlling the roll pitch and yaw. I understand how a PID works on a more simple plant like say a robot with wheels ...
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1answer
57 views

Res-Scaling method beats PID controller. How?

Scenario: I have a robotic arm that has a (1D) lidar on its end, to orient itself with respect to the slant table in front of it. The lidar returns pretty accurate distance values in mm. The motor ...
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2answers
68 views

How to determine actuator and process for PID, and how to intepret the output

Imagine there is a web service (let's say Twitter) that handles tons of requests from around the world. I want to figure out how to let the web service pick a certain amount of (let's say 1 billion) ...
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3answers
381 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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714 views
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257 views

What PID values should I keep?

I have built quadcopter but the problem is of balancing. It doesn't goes up. I am using PID technique for balancing. But I am not finding the suitable values for PID tuning. I am using mpu6050 as a ...
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1answer
682 views

Reducing noise between 3 ultrasonic sensors and make Autonomous Robot more precise

I made an autonomous robot with 3 ultrasonic sensors. I want to reduce the noise between the 3 sensors and make it gradually slow when it approaches an obstacle. My code is mentioned below. Please ...
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1answer
50 views

Feed both position and speed errors to one single PID

I have seen in the documentation of an old subcontractor's product that the controller of a robotic arm joint was basically feeding error position + error rate directly into one single PID. It feels ...
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2answers
68 views

Finding the PID values for a vehicle control system

I'm trying to design a PID system for the longitudinal control of an autonomous vehicle. I figured out about most of it but I'm trying to figure out the Kp, Ki and Kd values. This is an illustration ...
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1answer
50 views

PID controller issue

Recently I've successfully implemented PID controller for my robot's moving motors. Now the system can automatically adjust it's speed depending on different situations: increase it if something ...
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1answer
187 views

How to PID tune a four wheel robot?

Four wheel mecanum rover with a mass of approximately 50 Kg. Each wheel has a 20:1 gearbox with encoder at the wheel (rather than the motor). If this was something like a robot arm I would PID tune ...
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1answer
35 views

Using Integral gain for motor positioning

I'm struggling to see how Integral gain is used for motor positioning (with an encoder on the shaft). Suppose we have an AC motor connected to a winch which drives an object forwards and backwards. ...
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2answers
93 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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