# Questions tagged [pid]

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

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### 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)
1 vote
240 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 ...
2k 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 ...
1 vote
99 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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### 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 ...
55 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 ...
1 vote
129 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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1k 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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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 ...
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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 ...
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### 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 ...
853 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 ...
549 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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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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### 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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251 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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1 vote
71 views

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 ...
1 vote
376 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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552 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 ...
1 vote
2k 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....
1 vote
188 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 ...
369 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 ...
731 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 ...
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 ...
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243 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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### 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-...
2k 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 ...
96 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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### 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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1 vote
55 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. ...
1 vote
694 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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1 vote
168 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 ...
1 vote
54 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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1 vote
105 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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1 vote
176 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 ...
1k 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. ...
1 vote
747 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 ...
1k 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 ...
203 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, ...
1 vote
105 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 ...
1 vote
107 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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471 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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### 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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1 vote
97 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 ...
858 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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1k 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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### 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: ...
1 vote
328 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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657 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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