Questions tagged [pid]

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

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72
votes
9answers
285k views

What are good strategies for tuning PID loops?

Tuning controller gains can be difficult, what general strategies work well to get a stable system that converges to the right solution?
7
votes
1answer
1k views

understanding the PID controller

I am trying to understand the effects of P, I and D constants in a PID controller on a system. As far I've understood, P and I make the system 'faster', and D makes it 'slower'(which I read in books),...
9
votes
2answers
6k views

Line Follower optimization

I'm working on building a line follower robot and want to optimize its performance. It was suggested that I use a PID algorithm. I read a lot about PID but am confused a bit regarding following: I've ...
6
votes
2answers
7k views

Position Controller for a Quadrotor

I have a question regarding the implementation of a quadrotor's position controller. In my Matlab model the quadrotor takes 4 inputs: a desired altitude ($Z_{des}$) and desired attitude angles($\Phi_{...
20
votes
4answers
20k views

How can I use the Arduino PID library to drive a robot in a straight line?

I would like to create an Arduino based robot with 2 wheels, quadrature encoders on each wheel, a H-bridge driver chip (or motor controller) and a caster. I want to use the PID library to ensure the ...
6
votes
4answers
5k views

PID output does not reach setpoint precisely enough

I'm developing/tuning a software PID for a quadcopter. For now I'm only trying to stabilise the pitch angle using the front and back motors, and I'm only looking at Kp. The motors have a control ...
5
votes
1answer
2k views

The aerial refueling problem: sketch of a feedback controller

At first happy new 2015!!! I'm looking for my next simulator development: a Tanker is flying at constant speed (350 Knots) (no acceleration, no change of altitude or direction). The Tanker is ...
13
votes
3answers
19k views

Quadcopter PID tuning

In continuation of the question I asked here: Quadcopter instability with simple takeoff in autonomous mode ...I'd like to ask a few questions about implementing a basic PID for a quadrotor ...
4
votes
2answers
12k views

Quadcopter PID output

I'm trying to develop a control system to a quadcopter and one of my options is to use a PID controller (which I think is the most used method). From what I've read, the commom strategy is to run a ...
2
votes
1answer
185 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 ...
9
votes
3answers
15k 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 ...
13
votes
2answers
10k views

Approach to using PID to get a differential robot driving straight

Consider a differential drive robot that has two motorized wheels with an encoder attached to each for feedback. Supposed there is a function for each DC motor that takes a float from -1 to 1 and sets ...
7
votes
2answers
4k views

How to know the desired orientation of a quadcopter?

I am trying to simulate a quadcopter model on Simulink. I want to implement a PID controller for each of X,Y,Z and phi,theta, psi angles. PID gets the error, as input, which is to be minimized. For ...
2
votes
1answer
720 views

Quadcopter PID Controller: Derivative on Measurement / Removing the Derivative Kick

Good day, I am currently implementing a single loop PID controller using angle setpoints as inputs. I was trying out a different approach for the D part of the PID controller. What bought this ...
14
votes
3answers
5k views

How is PIV control performed?

I'm considering experimenting with PIV control instead of PID control. Contrary to PID, PIV control has very little explanation on the internet and literature. There is almost a single source of ...
5
votes
2answers
1k views

Tracking objects from camera; PID controlling; Parrot AR Drone 2

I am working on a project where I should perform object tracking using the camera of Parrot AR Drone 2.0. So the main idea is, a drone should be able to identify a specified colour and then follow it ...
4
votes
5answers
7k views

Quadcopter instability with simple takeoff in autonomous mode

I'm trying to get a quad rotor to fly. The on board controller is an Ardupilot Mega 2.6, being programmed by Arduino 1.0.5. I'm trying to fly it in simple autonomous mode, no Radio controller ...
1
vote
3answers
115 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 ...
3
votes
3answers
1k views

Need help for a quadcopter PID

I'm trying to make a quadcopter with Arduino. I already have the angles (roll pitch and yaw) thanks to an IMU. They are in degrees and filtered with a complementary filter. I want to apply a PID ...
1
vote
3answers
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 ...
12
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3answers
9k 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: ...
5
votes
3answers
5k views

PID with position and velocity goal?

I'm trying to design a control system for a robot that tracks moving object. Thus I want to robot to match the position and velocity state of the object. I don't want robot to simply to arrive at the ...
9
votes
4answers
9k views

How to use quaternions to feed a PID quadcopter stabilization loop?

I'm making a quadcopter. I have set up a PID loop to stabilize it to a given Euler angle (pitch and roll). The problem arises when the roll approaches 90 degrees (45 degrees and up). The values don't ...
4
votes
4answers
6k views

how to implement tracking problem with PID controller

I'm trying to implement the tracking problem for this example using PID controller. The dynamic equation is $$ I \ddot{\theta} + d \dot{\theta} + mgL \sin(\theta) = u $$ where $\theta$ : joint ...
7
votes
1answer
5k views

Quadcopter PID Algorithm

I'm trying to implement a PID control on my quadcopter using the Tiva C series microcontroller but I have trouble making the PID stabilize the system. While I was testing the PID, I noticed slow or ...
5
votes
1answer
182 views

How do timings affect input, sensor fusion, and output?

I'm programming a quadcopter controller. I've managed to make it fly. But, I'm not sure how to set up the timings schedule for each part of the software. I have several sensors (gyro, accelerometer, ...
6
votes
2answers
5k views

Quadcopter PID Control: Is it possible to stabilize a quadcopter considering only angle measurements?

Good day, I am a student currently working on an autonomous quadcopter project, specifically the stabilization part as of now. I am using a tuned propeller system and I also already considered the ...
6
votes
4answers
4k views

How frequently should a PID controller update?

I am developing a quadcopter platform on which will be extended over the next year. The project can be found on Github. Currently, we are using an Arduino Uno R3 as the flight management module. At ...
4
votes
2answers
420 views

Quadrocopter PID

I am building a quadcopter for my school project. I am trying to program my own flight controller using PID algorithm. I'll try to make my question simple using as an example below only two motors <...
5
votes
4answers
689 views

Controlling a system with PID that resists backdrive

I'm controlling the angular position of a pendulum using a DC motor with a worm gearbox. Mechanically, worm gears are impossible to backdrive. Using a PID controller on a pendulum system with a ...
4
votes
2answers
404 views

Dealing with position inaccuracy and latency in PID Loop

Background: I am new to PID, for my first PID project I am using a simple P-Loop and 300 degree linear potentiometers for position feedback. I am using the roboclaw 2x60A motor controller. The motor ...
2
votes
1answer
2k views

Length and Width of a Line Following Robot

I'm building a line following robot. I have made different chassis designs. The main prototype I'm using is a rectangle base. At one side motors are placed. On the other side of the rectangle caster ...
0
votes
1answer
714 views

What kp, ki, and kd should I keep? [closed]

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4
votes
1answer
202 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 ...
4
votes
2answers
397 views

Good method for Retuning a PID After Detecting Oscillation

Given a PID controller with an anti-windup, what are some practical ways to retune the controller once oscillation has been caused and detected? I have access to the magnitude and period of the ...
3
votes
2answers
1k views

PID Tuning for an Unbalanced Quadcopter: When do I know if the I-gain I've set is too high?

Good day, I am working on an autonomous flight controller for a quadcopter ('X' configuration) using only angles as inputs for the setpoints used in a single loop PID controller running at 200Hz (PID ...
3
votes
2answers
2k views

Tuning PD for line follower

I am trying to make line following robot. I am using atmega328p mcu, pololu 10:1 motors, pololu qtr6-rc sensor, 2s li-po. Here is my code: ...
3
votes
1answer
631 views

Quadcopter PID output and duty cycle conversion

I'm trying to design two PD controllers to control the roll and pitch angle of my quadcopter and a P controller to control the yaw rate. I give to the system the reference roll, pitch and yaw rate ...
2
votes
1answer
857 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-...
2
votes
1answer
359 views

P gain tuning for quadcopter (Is my perception for a P-gain too high correct?)

Good day, I am currently working on a project using Complementary filter for Sensor fusion and PID algorithm for motor control. I viewed a lot of videos in youtube as well as consulted various blogs ...
2
votes
1answer
816 views

PID Controller Output Mapping for Motor Speed Control

Hi, I want to control the speed of a conveyor belt. I can measure the linear velocity of the belt using a encoder mounted at the roller of the belt. My confusion is not with the PID but only the ...
2
votes
5answers
571 views

Raspberry Pi quadcopter thrashes at high speeds

I am attempting to build a Raspberry Pi based quadcopter. So far I have succeeded in interfacing with all the hardware, and I have written a PID controller that is fairly stable at low throttle. The ...
1
vote
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????
0
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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..
0
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2answers
38 views

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 ...