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
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
90 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 ...
1
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1answer
158 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
229 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 ...
2
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1answer
648 views

Quadcopter PID: Controller is Saturating

Good day, I am currently creating an autonomous quadcopter using a cascading PID controller specifically a P-PID controller using angle as setpoints for the outer loop and angular velocities for the ...
1
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2answers
2k views

PID Control: Integral error does not converge to zero

Good day, I had been recently reading up more on PID controllers and stumbled upon something called integral wind up. I am currently working on an autonomous quadcopter concentrating at the moment on ...
3
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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 ...
1
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1answer
814 views

The logic of implementing an Auto-level function in a PID flight controller

So I have multi-rotor with a basic PID controller, that keeps its axis stable through the gyroscope. However, the multi rotor, does not keep its height or position. So I would like to use an ...
2
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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 ...
0
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1answer
406 views

Quadcopter program execution time optimization using Raspberry Pi by increasing i2c baudrate

Is it possible to speed up execution time of a c++ program in raspberry pi solely by increasing the i2c baudrate and increasing the sampling frequency of the sensors? I have the issue of sudden ...
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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 ...
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2answers
97 views

Figure out PID values from drone specs

I have all the specs from a quadcopter, everthing, would it be possible to figure out the pid from those specs?
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1answer
58 views

Need the uav to perform a circle turn

I've got a project that will require my drone to perform a circle turn while the drone is always facing the tangent of the turning curve. Similiar to a car that is performing a frictionless banked ...
5
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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 ...
0
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1answer
54 views

Using another device instead of RC transmitter

I want to make pc controlled quadrotor. All the tutorials/projects made with rc receiver. I want to use arduino or xbee instead of rc receiver for pc control of quadrotor. How can I do this. Note: I ...
2
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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 ...
3
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2answers
297 views

sum_error in PID controller

I'm trying to implement a PID controller by myself and I've a question about the sum_error in I control. Here is a short code based on the PID theory. ...
0
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1answer
490 views

Change PWM values according to encoder output

I have a motor with an encoder. When I set the speed of the motor it should change its speed so that encoder readings per second should fit an equation $y = ax^2 + bx + c$ where ...
2
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2answers
2k views

PID tuning for 6 dof robotic arm

I'm currently developing a 6 dof robotic arm. The arm is vibrating when it stop moving and I want to reduce it. Another thing is that arm is so heavy (because there is a projector inside it, lol) and ...
2
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1answer
5k 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 ...
2
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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 ...
3
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2answers
630 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, ...
3
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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 ...
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1answer
149 views

my quadcopter settling time is very large

my quadcopter's settling time is very large, that is it sets its setpoint in very large amount of time, during which it has covered a large distance. But at settle point, when i gives it a jerk or ...
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1answer
2k views

Balancing Robot Control Model

I am trying to find a control model for the system of a balancing robot. The purpose of this project is control $\theta_2$ by the 2 motors in the wheels i.e. through the torque $τ$ I started with the ...
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2answers
204 views

Quadcopter stability vs (PID error signal lag and sample time)

The question I am asking is that, what is the effect on stability of increasing or decreasing both the sample time and lagging of error signal to PID. Does it helps in stability or degrade it?
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2answers
144 views

How much offset speed of motors on an axis is required before adjusting pid

For adjusting the pid for quadcopter, how much speed of motors are required before adjusting the pid. Do we need to give so much offset speed so that it cancels weight? I am sure we cant start ...
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2answers
632 views

How Should I tie My quadcopter to some thing, to adjust pid on one axis

I am stuck in adjusting the PID of my quadcopter, I cant adjust them on the fly because it just get out of control. I am adjusting them while attaching my quadcopter to something. Is this method ...
9
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1answer
3k views

Multiple control loops with overlapping effects

I'm familiar with using PID to perform closed loop control when there is a single output and a single error signal for how well the output is achieving the desired set-point. Suppose, however, there ...
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1answer
714 views

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

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2answers
188 views

Raspberry pi quadcopter drifts like crazy

I have recently built a raspberry pi based quadcopter that communicates with my tablet over wifi. The problem is that it drifts a lot. At first I thought that the problem was vibration, so I mounted ...
5
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1answer
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 ...
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1answer
69 views

Quadcopter accelerating or not

I am on the project quadcopter. So i have to use PID for stabalizing it. I think i am going wrong because i am adding the pid output to motors thrust. While the motors thrust means to be its ...
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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 ...
3
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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: ...
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1answer
469 views

Non linear control system?

I have a dual (sequential) loop control system controlling the angle of a rotational joint on a robot using an absolute encoder. I have tuned the inner control loop (for the motor) and am now working ...
4
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2answers
1k views

How to tune PID for a Y(t) = k*X(t) system?

Could I have your opinions on PID type selection? System description Here comes a very simple system: $\mbox{Output}(t) = k * (\mbox{Input}(t) + \mbox{systemVariable}(t))$. $k$ is constant and $\...
2
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1answer
473 views

increase PID sampling rate on embedded system

my robotic project is running at every 1ms and the processes are taking about 0.9ms. I am running PID so my max clock rate is 1kHz. About half of the processing time are taken by SPI peripherals, IMU ...
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1answer
81 views

what are methods to compare PID controller performance?

If there are input and the sensor measured outputs. What are the objective methods to compare performance besides looking at inputs and outputs matching or not?
2
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1answer
155 views

Lagging sensor data for PID

Let's say a PID is implemented and the errors are calculated using the sensor data, but the sensor data lags by certain amount of time because of the overhead. And the lag time is smaller than the ...
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1answer
83 views

Improving Velocity estimation

I have a sensor reduction model which gives me a velocity estimate of a suspension system(velocity 1) . This suspension system estimate velocity is used to calculate another velocity(velocity 2) via a ...
9
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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 ...
2
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1answer
7k views

How do I accurately calculate the speed of a rotary encoder at a high sample rate?

I'm aiming to control a motorized joint at a specific speed. To do this, I'm planning on attaching a rotary encoder to do this. I'll be controlling the motor with a PID controller. With this PID ...
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1answer
498 views

Why PD controllers for quadcopter angles control?

my question is: in a lot of cases it is possible to find in Internet PD (instead PID) to control the euler angles of quadcopter? Why the integral part is often neglected in this kind of applications? ...
3
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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 ...
0
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1answer
73 views

PID over another module that implements a PID control?

I'm in charge of a module to control the smoothness with which a platform should move; the platform already implements a closed-loop control on its own but this firmware is closed and I do not have ...
0
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1answer
139 views

Pole placement gains tuning

given my control system I have found the region of the complex space that satisfies my specifications, determining poles position in 0.5 +- 0.2i. Now I want to find the gains that fix the desider ...
3
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2answers
4k views

How to implement PID control for robotic arm?

I'm wondering that, PID control is a linear control technique and the robot manipulator is a nonlinear system, so how it is possible to apply PID control, in this case. I found a paper named: PID ...
0
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1answer
555 views

Estimating angular speed from position for control purpose

I am new to robotics, however I am designing a PID to control the angular velocity (azimuth, elevation) of a couple of Faulhaber motors. The input to the PID control is the actual angular velocity, ...