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9 votes
Accepted

How to tune the PID parameters using Fuzzy Logic?

The paper Controlling of Quadrotor UAV Using a Fuzzy System for Tuning the PID Gains in Hovering Mode by E. Abbasi, M. J. Mahjoob explains how to tune PID gains with fuzzy logic. You can find many ...
acs's user avatar
  • 1,124
2 votes

Problem with tuning PID for motor

Welcome to Robotics, Bloopie Bloops! You haven't stated what platform/language this is, so I'll just give some illustrative pseudo code. As Mark Booth mentioned, the typical way to evaluate/critique ...
Chuck's user avatar
  • 16k
2 votes

Problem with tuning PID for motor

Your goal is a bit unclear. In the sense that you don't really care about your motor control input, what you want is a given rotational velocity. the pid is going to give you the command (motor input) ...
N. Staub's user avatar
  • 1,412
2 votes

Pole placement gains tuning

I assume that you'd aim to place the poles in $-0.5 \pm 0.2 \cdot i$ for stability reasons. In the s-domain, the transfer function is: $$ \frac{\Phi_c}{\Phi}=\frac{K_p}{s^2+K_ds+K_p}. $$ Computing the ...
Ugo Pattacini's user avatar
2 votes

PID tuning - can't get stiffness without going unstable

Well you have two methods to go with really. As I don't know you're system at all, it's mostly difficult to tell you what to start with. Model it and Auto tune, then fine adjust by hand (how I would ...
DrMrstheMonarch's user avatar
1 vote

Tuning a cascaded attitude and attitude rate PID controller

You can operate the quadcopter with a poorly tuned attitude rate PID, log relevant quantities, build a model from the data, and finally use the model to tune the PID iteratively. Suppose that such an ...
Ugo Pattacini's user avatar
1 vote

Real world dynamic problem suggestion for PID

Look for highly nonlinear problems where a single PID is not suitable to work at its best within the whole operational range thus requiring multiple controllers. Here's an example in Simulink. In ...
Ugo Pattacini's user avatar

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