Questions tagged [pid]

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

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223 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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1answer
725 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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3answers
97 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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1answer
386 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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2answers
72 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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1answer
83 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
75 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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1answer
41 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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1answer
70 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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1answer
41 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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1answer
905 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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1answer
154 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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2answers
282 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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1answer
174 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
160 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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3answers
968 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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2answers
48 views

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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1answer
71 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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44 views

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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1answer
49 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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2answers
857 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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1answer
120 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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2answers
785 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
97 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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2answers
454 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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2answers
261 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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1answer
195 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
38 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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1answer
173 views

PID loop to control motor velocity with disturbances

I am trying to use a PID loop to control a motor. This is my first attempt at creating a PID loop (really just a PI loop). There doesn't exist a model for this system, and I don't know how to create ...
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0answers
57 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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0answers
225 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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1answer
378 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
1k views

Calculating error on line following robot (PID)

I am kind of new to control systems and I am currently making a line follower using PID loop. I am using 6 IR LED Photo-transistor pairs to detect the line but I am not sure how to calculate the error....
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1answer
156 views

How to use PID control for line following robot?

It's me the greatest noob again.thank you very much for your last help guys.Now,this time I am with a line following robot.I want to use PID control in it.But I'm not getting any perfect resource from ...
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2answers
317 views

Quadcopter stable with angular velocity but not with absolute angle

I'm making a flight controller for quadcopter. It is very stable when regulated by angular velocity, but it is horrible when regulated by angle. What are the potential problems when regulating a ...
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1answer
559 views

MPU6050 inconsistent Gyro data

I'm using an MPU6050 for a custom flight controller and I am facing an issue when reading the values from the IMU. The data shown below represents the angular velocity in the y-axis. When the angular ...
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2answers
73 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 ...
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2answers
178 views

What are good options for modifying drones?

I'm apart of a group at my University where we would like to build a drone/UAV and constantly add and modify parts on it. We were thinking of using an Arduino or raspberry pi, but we really don't ...
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1answer
60 views

Control geared DC motor based on timing?

According to this video from Khan Academy about electronics of a DVD drive the position of the sled (which moves the reading head) is controlled by a geared DC motor by using only timing and one end-...
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3answers
1k views

Balancing robot - How to control the velocity and angle

We are currently making a balancing robot as a school project. The robot has a gyroscope and an encoder to get the angle of the robot and the rpm of the wheels. By using the current angle of the ...
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1answer
83 views

Is Robust Control and robotics well applied together?

There are many control methods who sounds great and have nice math etc. But many of them are not realistic in real life. In robotics, Adaptive Control is well applied because Adaptive Control make ...
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1answer
1k views

Line follower PID tuning for high speed

I have a line following differential drive robot with a PID control. I successfully tuned (try and error) the P,I,D constants for a good stability in low speeds, but when I increase the speed, ...
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1answer
52 views

How to track two set-points with one output?

How can I track two set-points in a system using only one output? Example: make a motor track a position x moving in a speed y while I have only voltage as an output, speed and position as feedback. ...
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0answers
631 views

How to make a line following algortihm for an A.R Drone 2.0? [closed]

I am trying to develop a line following algorithm where a drone will detect a bounding box and follow what is inside the bounding box. I am filtering all the colors to only see the color white. Once ...
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1answer
120 views

how to sync the timer in control system with ROS?

To simulate a system, a global timer will be set and all submodules will be synchronized with that timer to work together. such as PID controller, kalman filter, PWM module etc. How do you sync the ...
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0answers
46 views

What algorithm should I use to make a dynamic Line following robot? [closed]

I want to make a LFR using IR sensor. Till now I coded my robot according to the track I am going to participate in. So it won't work on any other track. But now I want to code it in a way that it ...
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2answers
92 views

Simple PID Loop Question

Let's say, for example, I am controlling a motor's speed by adjusting how much power I feed into it. The motor shaft is connected to some physical device with varying amounts of torque, so in order to ...
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1answer
145 views

Robot Position Control on Treadmill

Previous Question Hello, In continuation of my question above, I have another question. I have managed to control the speed of the treadmill using a PID and StevO mentioned to me how the scaling from ...
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1answer
773 views

Correct Quadcopter Yaw control implementation

I have built a quadcopter from scratch, including my own flight controller. I have implemented a sensor fusion algorithm (Madgwick algorithm), which returns me current Yaw, Pitch and Roll angles. ...
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1answer
664 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 ...