Questions tagged [pid]

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

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1answer
74 views

Quadcopter Flat Surface Roll Pitch angle not 0 Degree

At 11:13 or 2:22 of this video or 0:09 of this second video the drone itself is on flat surface but the flight controller itself must have been placed in tilted position (not intentionally) on frame a ...
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1answer
99 views

Do I need to use separate function in PID algorithm to make the bot go LEFT or RIGHT?

Do I need to use separate function in PID algorithm to make the bot go LEFT or RIGHT? ...
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1answer
357 views

Handling PID DC motor control at low speeds

I am building a 4 wheel rover and am using PID DC motor control for the back set of wheels. The feedback for the speed is provided by Hall effect sensors, with two pulses per rotation. This means ...
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1answer
75 views

What's wrong in controlling Roll+Roll rate in a quad-copter instead of using 2 separate loops for each?

I am curious to know why we can't apply control algorithm like PID on the weighted signal of Roll and Roll rate in a quad-copter instead of using two loops to control them independently. Fundamentally ...
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1answer
71 views

PI with poor sampling rate

I have a 1-DOF electromechanical application whereby I am controlling the contact-force at the tip of the end-effector. The force sensor on the end-effector unfortunately gives me force data and an ...
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1answer
660 views

Guessing the K matrix gain for the Optimal Control LQR?

I'm are going to create a LQR to control a system. The problem is to choose the Q and R weighting matrices for the cost function. The Q and R matrices are going to minimize the cost function so the ...
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1answer
944 views

2D quadcopter simulation position controller and PD controller

I'm a beginner in controls system, so if there is a nice tutorial on this, please let me know. I have a Simulink model like the following: It takes roll and pitch commands and output velocities and ...
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1answer
414 views

Stabilising a quadcopter using YPR

I'm using the MPU-6050 accelerometer + gyro with the library I2Cdev which outputs: quaternion, euler angles and YPR angles. The equations used for calculating the YPR are: ...
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0answers
245 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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3answers
493 views

Making a robot move straight between two maze walls

Using a PID with encoders, I can make the robot move straight but there is a 0.5 degrees drift and it eventually hits a wall so I need to adjust to center it between the two walls. I have a sensor on ...
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1answer
449 views

Tuning Line follower PID constants with Q-learning

I am currently working on a line follower buggy and have managed to tune the PID constants​ manually. The buggy follows the line at a moderate speed. I will now like to take things further and learn ...
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1answer
920 views

Balancing robot tuning approach

I'm at the stage where I assembled a balancing robot and it's not maintaining a stable position. This is not a surprise I just started testing last night. My code is here, views of the device are ...
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3answers
3k views

PID tuning with (Deep) Reinforcement Learning

I am trying to implement a RL algorithm for an adaptive PID in a robot system. My doubt consists in the creation of the possible states in the problem. I mean, I understand quite well the problem ...
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1answer
43 views

Prediction of Ready to Use Robotic Control Cards Codes

Suppose you have a control card. We do not have access to the control card's code and we do not know which control algorithm is used (PID, PD, PI, Fuzzy, ...). We can only measure the control inputs ...
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2answers
709 views

PID Controller for line following robot

I had this idea of using the PID Controller as the algorithm of the line following mechanism for my Robot. The problem (which is a nature behavior of the PID controller ) on the line gaps ( where ...
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2answers
765 views

How to consider gravity in the design of a compensator?

I have to solve an exercise for the Digital Control System course (using MATLAB software) which stands: "A ball is suspended inside a vertical tube by airflow 'u' and connected via a spring of ...
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1answer
2k views

Balance Bot PID tuning

so I am working on a Self Balancing Bot with Arduino Mega. I'm using 12V 200 RPM motors with built in 840 PPR quadrature encoders. The torque rating is as follows: Rated Torque: 2.4 Kg-cm Stall ...
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1answer
2k 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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2answers
1k views

Cascaded PID in Quadcopter control

I'm working on diy flight controller for quadcopter. I have a question for which I can't find a good answer. So perhaps you could help me. I'm using a cascaded PID controller for Pitch and Roll ...
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3answers
181 views

Mobile robot identification

The problem: line follower robots - non linear systems - use linear PID regulation algorithm in order to bring error to zero. However, using linear regulator is not the best way to drive non linear ...
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1answer
826 views

How to implement PD controller to this 2D planar quadcopter dynamics?

I want to code the dynamics of 2D planar quadrotor and than control it to drive it from one state to another. Dynamics that I use is taken from the online course fiven by Vijay Kumar in Coursera as ...
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0answers
82 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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1answer
147 views

Need help modelling and coding a feedback scenario

Above illustration is the basic setup for the question. The scenario will be the following: A potentiometer(providing 0 to 5V) is an analog input to A0. This potentiometer voltage is converted to ...
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1answer
537 views

What algorithm should I use for a line follower?

I actively take part in robotics competitions with my school's robotics club, and all of the line followers we use, are implemented using a PID algorithm (PD actually), but recently my electronics ...
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1answer
97 views

PID Gains: Drop in control loop rate, need to retune?

Good Day, I am working on an autonomous quadcopter. May I ask if there is a significant difference if my control loop dropped from 500Hz to 460Hz due to added lines of code that would require ...
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1answer
2k views

Are there any others alternatives for PID controllers for line following robots? [closed]

Are there any better/ advanced ways of steering a line following robot other than pid controller? If so what are them?
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1answer
666 views

Using Quaternions to feed a quadcopter PID stabilizing controller to avoid Gimbal lock

I am trying to control my F450 dji quadcopter using a PID controller. From my IMU, I am getting the quaternions, then I convert them to Euler's angles, this is causing me to have the Gimbal lock issue....
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2answers
128 views

Proper naming of PID regulators [closed]

I was wondering either there is any special naming for regulators that: Outputs unit is the same as inputs, ie. velocity [m/s] as input and velocity as output [m/s]. Outputs unit is different than ...
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3answers
4k 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 ...
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3answers
150 views

How to create a model for temperature control?

I have a heated compartment, inside which, there is another object heated up by independent heater. I want to control temperatures of both chamber and the object. I could achieve this by simple PID (...
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1answer
780 views

Quadcopter: X-Y Velocity PID Controller

Good day, Introduction I am currently working on an autonomous quadcopter project. I have currently implemented a cascaded PID controller consisting of two loops. The inner rate loop takes the ...
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1answer
137 views

Stability of PID values update function for quadrotor

A reviewer of the last paper I sent replied me that the it is very dangerous to update a PID with next kind of formula (paper is about quadrotor control): $$ K_p (t + 1) = K_p (t)+e(t) (μ_1 (Pe(t)) + ...
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2answers
36k 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 ...
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1answer
808 views

Quadcopter Flight Controller:Why does Using gyroscope data give better results?

I have succeeded in making my first quadcopter from scratch with a readymade frame. I designed the flight controller myself with help from YMFC-3D youtube series of videos. https://www.youtube.com/...
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1answer
611 views

Quadcopter refuses to fly when the Yaw PID component is added

Good day, I would like to ask why is it that when I add the Yaw control to my PID controller for each motor. The quadcopter refuses to take off or maintain its altitude. I am curently using a ...
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1answer
1k views

Simulating Dynamixel motors in Gazebo

I'm trying to simulate a humanoid robot using Gazebo with plugins. Since our actual model uses Dynamixel motors, I'd like to know how exactly they work to make the simulation as realistic as possible. ...
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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 ...
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1answer
128 views

Considerations to design actuators, and loop feedback systems, for a robotic arm [closed]

Let's say I have an industrial sized 6DOF robotic arm. I want to control each one of the six joints despite the non-linearity produced by the chain structure, the gravity and the weight of the loads ...
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2answers
114 views

Fixed Wing UAV: Do inherently unstable systems desire to be stable for all cases when a closed loop control is implemented on them?

As we all know fixed wing vehicles are designed to have inherent instability which is what enables all fixed wing vehicles to fly. However does this apply to all cases? Do inherently unstable ...
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2answers
408 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 <...
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1answer
3k views

How can we use the accelerometer for altitude estimation?

I am currently implementing an autonomous quadcopter which I recently got flying and which was stable, but is unable to correct itself in the presence of significant external disturbances. I assume ...
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3answers
712 views

Can we simulate a actuator with a very strong torque with a PID controller

I use gazebo to simulate a robot arm. To control its joints, I use PID controllers. As you might know, PID are sometimes pretty hard to tune and this is the case for a robotic arm. To avoid any tuning,...
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4answers
553 views

Why do I need I-gain in my outer-loop?

I'm implementing a set of loops to control pitch-and-roll angular positions. In an inner-loop, motor speeds are adjusted to achieve desired angular rates of rotation (the "inner-loop setpoints"). An ...
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1answer
346 views

VEX Cortex Motor Speeds up under load

I am trying to get my robot to drive straight and am having trouble. I find that when running the motors with no load they run fine. If I put a load on one motor it accelerates. The other performs ...
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2answers
259 views

PID tuning with methods like GA and PSO

I have recently started reading about PID tuning methods and algorithms, and I encountered the particle swarm optimization algorithm and genetic algorithm. The problem is, that I don't understand how ...
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1answer
1k views

How to make a robot arm follow a shape/path

I have constructed a 3 DOF robot arm. I want it to follow a trajectory on a 2D plane (XY). Tha shapes I want to follow are lines, cycles and splines. I now the math behind these 3 shaped (how they are ...
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0answers
89 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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1answer
1k views

Quadcopter PID Tuning for Altitude Hold/Position Hold along Z axis

Good day, I have just finished tuning the Pitch and Roll PID's. I did this by setting the throttle such that the quad is weightless. I did the tuning of each axes separately. I would just like to ask ...
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1answer
157 views

Ultrasonic Sensor's Lag (20Hz) effect on PID contol loop rate (150Hz)

Good day, I would like to ask how is it possible to use an ultrasonic sensor for altitude hold in a quadcopter if the sampling rate of the Ultrasonic sensor (HC-SR04) is only 20Hz before incurring any ...
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1answer
228 views

Why does my RoboClaw seem to be ignoring the PID gain settings?

I'm seeing a behavior in my RoboClaw 2x7 that I can't explain. I've been trying to manually tune the velocity PID settings (I don't have a windows box so I can't use Ionmc's tuning tool) by using ...