Questions tagged [pid-control]

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Best Techniques to design a cascaded precision position controller

I'm looking to design a cascaded controller to transform a BLDC into a servomotor. The system has a motor current controller in the inner loop, which is controlled by a torque controller, which is ...
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30 views

Limitations to consider when picking a cut-off frequency low-pass filter for PID control?

Considering a first-order low-pass filter transfer function: $$ \frac{\omega_c}{s + \omega_c} $$ Where $\omega_c$ is the cut-off frequency. Are there any limitations on where to place this pole? For ...
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30 views

Block-diagram combining two controlled subsystems

I have two subsystems which are shown in the picture below. One of them is a system of stable and controlled differential equations of a mechanical system. Second is a block that implements a function ...
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37 views

Linearizing nonlinear system for PID control

I have a system where y = 1/x. (y=output, x=input) If I calculate the PID error not by reading y, but by reading 1/y (so linearizing the system), will my system be nicely linearized, and the PID ...
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37 views

(Dominant) Poles very close to zeros in PID control

I have a plant transfer function $G(s)$: $$ G(s) = \frac{1}{s^2(0.1s + 1) } $$ I want to control this with practical PID control: $$ C(s) = k_p + k_i \frac{1}{s} + k_d \frac{N}{1 + N \frac{1}{s}} $$ ...
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69 views

How to tune a PID controller when plant's step response looks like a ramp?

The system is a boat and I want to specify a yaw angle and the PID controller would operate the rudder of the boat in order to reach the desired yaw angle. So, the step response of the plant (boat) ...
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25 views

How to determine time constant/cutoff frequency of the filters in the controlled loop

I was told to be careful to use filters in the control loops as it will add extra time delays in the system and degrade the system dynamic response, but I also saw there are lots of filters in ...
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1answer
52 views

Can I design/tune the outer loop controller without knowing the details of the inner loop controller?

In cascade PID control loops as below, can I make an assumption that the inner loop will respond much faster than the outer loop, hence I could simplify U1_CMD as U1 and I could design/tune the gains ...
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1answer
45 views

Improving a PID controller from logged historical PID data

Part of our system involves a feedback loop with a PID controller. We log every call to the PID controller, and include in the log information about the Kp, Ki, Kd, the set point, the input, output, ...
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2answers
41 views

PID or AI or other approaches to this thermal control problem?

I have this boiler controlled manually at the moment, and I am wondering what would be the most proper approach to automate this process. The boiler in this question basically burns fuel (saw dust, ...
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27 views

Servo Motor Input Voltage Equation

I'm working on a Ball & Beam project. As I'm doing it for an engineering project, I'm supposed to model the system mathematically, calculate the PID parameters, etc. to center the ball in the ...
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41 views

Is there an equation that can automatically tune a PID controller?

Is there an equation that can automatically tune PID controllers? or do I have to do manually/make an AI to do it for me?
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48 views

PI or PID-regulator for control system with hysteresis relay in inner loop

I have such control system (sorry for rough drawing :) ) $G(s)$ - stable object with proper transfer function. $1/s$ - integrator. I need to clarify, how synthesized PI or PID controller for such ...
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2answers
55 views

Discrete-time realization for continuous time domain controller/filter?

Let us say I simply design a low pass filter like (1/s+1) with the cutoff frequency as 1 rad/sec, when I implement it in real software, do I have to do the discrete-time realization? If not, what ...
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2answers
52 views

How to simulate open and close and control valve using a simple controller

I have successfully developed a mathematical model for my physical system. My objective is to control the mass of gas in and out of the system. The mass flowrate is given by: $V_f = C_d.\sqrt{2.\frac{\...
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210 views

How to get the performance index ISE and IAE for a Matlab-Simulink designed Line Follower Robot with PID control?

I am researching a method to determine the optimal PID gains for a line follower robot. The problem is, I don't know how to setup the performance index IAE and ISE in the matlab. Any tips on how to do ...
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1answer
44 views

What is the meaning of this symbol in Control System Diagram

I was reading the paper "Full-Speed Range Self-Balancing Electric Motorcycles Without the Handlebar" released in March 2016 by Professor Yang and Murakami in Keio University. I couldn't ...
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2answers
57 views

Do I need a feedback loop while testing PID controller?

This is a homework for my university course control theory. The task is simple: Test the P, the I and the D controllers separately to see the effect. We don't have to connect the controllers to a ...
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43 views

Controller to maintain a stable amplitude

I am recording a channel before and after injecting current into that channel. I control the current injection using a switch, when the switch is on current goes to the channel, when the switch is off ...
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52 views

What are some techniques for improving stabilization given a mechanical time constant?

Problem: I have a self-stabilizing system that utilizes an intertial measurement unit (IMU) attached to the hull of a vessel. The system self stabilizes by performing matrix rotations based on the ...
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24 views

Process disturbance in PI controller help

This is the project i'm working on and i'm struggling to understand one sentence which is stopping me from progressing the project. I'm struggling to understand what it means when it says to add +/- ...
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2answers
79 views

object following using pid

in short, I want to implement a PID controller that takes in distance and returns velocity. Details: I am simulating robots following each other. I wish to maintain a constant distance, ...
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2answers
314 views

How do I interpret the following Bode, Nyquist and Nichols diagrams?

I am working with an arbitrarily complicated and long-winded transfer function that looks something like this: $$ H(s) = \frac{as^4+\cdots+b}{cs^6+\cdots+ds^2} $$ where letters represent constants. ...
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34 views

Finding Derivative Gain for PD Controller

I am trying to design a PD controller $G_c(s) = K_d(s+z_c)$ with the following requirements: No overshoot, $\zeta = 1$ Settling time $T_s = 0.0002s$ The transfer function that I am currently working ...
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48 views

how derivative gain in PD controller influences tracking error

List item For a proportional and derivative feedback control, the the response and tracking error in frequency domain can be represented as $Y(s)=\frac{KG+K_dSG}{1+KG+K_dSG}S_p \\ e(s)=\frac{1}{1+KG+...
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53 views

Is controlling humidity more precise when calculating with relative or absolute humidity?

I have a tubing system where I need to precisely control relative humidity. All my sensors are giving me temperature [°C] and ...
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1answer
182 views

Is the PID just an outdated control method and state-space is superior?

So I've been wondering this for a while; is PID just a simple but slightly outdated control method / isn't state-space (SS) a far superior method in pretty much every way? SS allows for MIMO, PID just ...
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2answers
124 views

Why does accuracy of temperature PID controller drop over time and how to eliminate it?

What am I trying to control? I have a container with approximately 3*2*6 meters (width, height, length). I am controlling through PID the ...
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4answers
119 views

PID controller - Counterproductive derivative

I'm having trouble understanding the derivative part of a PID controller, because it sometimes seems to react the opposite way that I would like. Let's use a simple example where : the controlled ...
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1answer
75 views

PID Control: Is adding a delay before the next loop a good idea?

I am implementing PID control in C++ to make a differential drive robot turn an accurate number of degrees, but I am having many issues. Exiting control loop early due to fast loop runtime If the ...
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1answer
201 views

What's the difference between Fuzzy PI, PD and PID controllers?

I am investigating fuzzy control and I am a little confused, I have come across 3 models and I can't quite fathom out what is going on. In this PD+I controller, I can see the error signal being ...
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3answers
254 views

How to convert a DC motor into a servo motor using a rotary encoder and a microcontroller?

Operating/ Rated Voltage: 24V No load Speed: 350 rpm No load Current: 150mA (max) Max efficiency: 1.4 Kg-cm/300 rpm/ 14.2W/ 0.87A Max power: 4.5 Kg-cm/180 rpm/28.2W/1.4A Stall Current: 2.9 A (max) ...
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34 views

P&ID questions on reports, connection, etc

Good day to all of you. I got some questions in my mind regarding on P&ID: In electrical, symbol will have their own default reference name for example "Motor" will use "M" , ...
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40 views

Discrete measurement - continuous observer design

I have to design a controller for the above system where the two pulse generators (red blocks ) are synchronized (measurements are only available at discrete points). However, my understanding is that ...
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1answer
87 views

Tuning Feedforward + PID Controller just with Feedforward Data

Hello there, hope you are all doing well. Right now I am trying to design a Feedforward + PID Controller for KUKA youBot on simulation. Since I do not have the equation of the system, I am trying to ...
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1answer
886 views

Best PID autotuning algorithm/library for simple heater problem

It's the 21st century, anything is possible. Except for PID autotuning for a simple problem, heating/cooling system - make robust and ready to use solution. I've found only one library for PID ...
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2answers
18 views

Does it make sense to have a pressure and flow controller on a single closed line?

I have seen P&IDs in which a single line has both a pressure and flow control valve. Based on my understanding of Bernoulli's equation however this doesn't make sense to me - because ultimately ...
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1answer
82 views

Differential Equation for: Locking a laser's frequency with a PI controller

I think I have a good understanding of differential equations, so I would like to first try to understand my system in terms of differential equations before transforming my system into the more ...
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1answer
46 views

Crossflow HX tube and fin, derive Tout hot side as a function of mdot hot side in

Apparatus: Crossflow Tube and fin HX. (liquid-to-air Intercooler), Hot Side: Tube side, gas flowing internally Cold Side: fin side, water flowing in crossflow Goal: Generate an environment in "...
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1answer
73 views

Is there any other controller than PID Controller?

I have been given a Project to search for a controller having better transient response than PID Controller. I searched but I didn't find any research paper on it. All are talking about improving PID'...
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2answers
145 views

Analog PID Controller/Filter delay and stability

recently I had an exercise where I had to build and measure an analog PID controller/filter. The starting point was this circuit. This is a tamed PID controller implemented with a single opamp. ...
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1answer
79 views

Adapting PID controller parameters using expert rules

I use the following equation to calculate a control signal of a time-discrete PID controller: $$ u(k) = u(k-1) + K_{R} \cdot \left(1+ \frac{T_{0}}{2 \cdot T_{I} }+ \frac{T_{D}}{T_{0}}\right) \cdot e(k)...
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1answer
30 views

AC voltage b/w DC power supply o/p and Ground

I have various Phoenix Contact Mini DC Power supply units (Pheonix Contact MINI-PS-100-240AC-5DC). It gives the correct DC Voltage across output terminals, as its supposed to. But I also noticed that ...
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1answer
78 views

Zeroing a ventilator's volume measurement in the face of drifty sensors

I'm a software engineer working with http://respira.works to build an open-source ventilator for COVID-19. Notably, I'm not a controls person or a hardware person, so please forgive me. Background ...
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1answer
44 views

What is Dissipitative Control?

I am reading an article that says: stabilize the multi-vehicle system to one of its local minima via dissipative control And other that deals with dissipative system: (PID) controllers is ...
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1answer
51 views

Using Integral gain for motor positioning

I'm struggling to see how Integral gain is used for motor positioning. Suppose we have an AC motor (with a 2048PPR encoder on the shaft) connected to a winch which drives an object forwards and ...
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0answers
37 views

Is this function common in PID controllers?

I'm reading some old microcontroller code for a PID algorithm. There's a strange function (to me) that seems to work like this: $output = \frac{1}{n}input + \frac{n-1}{n}previous\_output$ The value $...
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1answer
44 views

Tuning a cascaded attitude and attitude rate PID controller

Assume that I have an object in 3D, and I want to have a controller that stabilizes its orientation (also referred to as "attitude"). To be sure we are clear: attitude is measured in "degrees" or "...
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2answers
387 views

Increasing Kd in PID control loop

Why does increasing derivative gain $K_d$ in a PID controller loop lead to a reduction in overshoot and an increase in rise time? This is not a homework question, it is a question to improve my ...
3
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1answer
126 views

Does this PID-like algorithm make any sense for a solar inverter?

The application I want to implement the control of a photovoltaic inverter. The goal would be to keep the consumption of a microgrid (the power absorbed from the grid) to a constant value. Notes: I ...