Questions tagged [pid]

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

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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 ...
0 votes
1 answer
68 views

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 ...
1 vote
2 answers
69 views

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 ...
4 votes
3 answers
59k views

How do the PID parameters (Kp, Ki, and Kd) affect the heading of a differential driving robot when they are increased individually?

Question: A PID controller has three parameters Kp, Ki and Kd which could affect the output performance. A differential driving robot is controlled by a PID controller. The heading information is ...
2 votes
1 answer
657 views

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 ...
0 votes
2 answers
92 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 ...
0 votes
1 answer
34 views

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 ...
0 votes
1 answer
28 views

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 ...
9 votes
5 answers
8k views

Why does a ID controller not exist?

Why doesn't a PID only consisting of ID exist?
1 vote
0 answers
58 views

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 ...
0 votes
1 answer
118 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 ...
2 votes
1 answer
128 views

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 ...
1 vote
2 answers
109 views

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 ...
10 votes
4 answers
18k views

Control both Velocity and Position (Linear actuator)

I am trying to control the velocity + position of a linear actuator. At this moment I am able to control the position or the velocity. But I'm trying to control both. What the control has to do: Let ...
0 votes
1 answer
69 views

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 ...
2 votes
1 answer
2k 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 ...
1 vote
1 answer
55 views

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 ...
0 votes
2 answers
37 views

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 ...
0 votes
0 answers
42 views

PID controller feasibility

I'm trying to control a hybrid inverter to manage a selfconsumption mode bypassing its native mode - meaning to distribute power coming from solar and into/from battery to home consumption and grid. ...
5 votes
2 answers
268 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 ...
0 votes
0 answers
24 views

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, ...
2 votes
1 answer
74 views

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 ...
1 vote
1 answer
211 views

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 ...
1 vote
1 answer
225 views

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: ...
0 votes
1 answer
82 views

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 ...
15 votes
4 answers
11k views

I don't understand Integral part of PID controller

I dont understand integral part of PID controller. Let's assume this pseudocode from Wikipedia: ...
0 votes
1 answer
276 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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1 answer
54 views

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 ...
0 votes
1 answer
56 views

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 ...
4 votes
1 answer
41 views

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 ...
2 votes
2 answers
8k views

Choosing a proper sampling time for a PID controller

I have a robotic system I'm controlling with Arduino, is there an heuristic way to determine a proper sampling time for my PID controller? Considering I have some other things to compute on my sketch ...
1 vote
1 answer
179 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 "...
0 votes
2 answers
273 views

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 $m$...
0 votes
2 answers
29 views

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 ...
0 votes
1 answer
260 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 ...
0 votes
2 answers
61 views

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 ...
1 vote
1 answer
133 views

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 ...
0 votes
1 answer
61 views

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....
0 votes
0 answers
165 views

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 ...
0 votes
1 answer
110 views

What is a PID as is related to quadcopters [duplicate]

I'm trying to make a Quadcopter from scratch, I have a fair amount of experience with adruinos, and I'm trying to understand how to necessary systems work, and I can't seem to figure out what PID ...
3 votes
2 answers
651 views

Quadrotor - Control system, where to begin?

I am starting to assemble a quadrotor from scratch. Currently, I have this: Structure; an IMU (accelerometer, gyro, compass); 4 ESCs and DC motors; 4 propellers; Raspberry Pi to control the system, ...
0 votes
2 answers
89 views

How to start as a control system engineer and to make advanced projects using PID [closed]

I am new to the field of control systems, PID and robotics and I want to enhance my knowledge in the field. Can you recommend me books where I can start learning about control system engineering (with ...
5 votes
1 answer
574 views

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,...
5 votes
1 answer
1k views

PID quaternion contoller

I want to control the attitude(roll, pitch, yaw) of a vehicle capable of pitching and rolling. To do this I have created a quaternion PID controller. First I take the current attitude of the vehicle ...
1 vote
2 answers
727 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 ...
0 votes
1 answer
112 views

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 ...
0 votes
1 answer
96 views

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 ...
0 votes
1 answer
73 views

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 ...
5 votes
4 answers
3k 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 ...
0 votes
2 answers
3k views

Tuning PID controller for sharp turns in line follower robot

I'm working on a TWDD line-following robot using qtr-8a reflectance sensor array. The sensors are connected to BeagleBone Black, and BBB is sending the speed serially to an arduino Due. My approach is ...

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