Questions tagged [pid-control]
The pid-control tag has no usage guidance.
48
questions with no upvoted or accepted answers
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PI-Controler: Comparison of characteristic equations
I have to design a PI-controller with zero order hold for the plant
$G_s(s) = \frac{0.24}{(s+4)(s+12)}$ to meet the specifications of $\omega_n=5\,s^{-1}$ and $\zeta = 0.6$.
I choose a $T=0.12\,s$ ...
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what's wrong with this robust control scheme?
I'm learning how to control a double integrator with $H_\infty$.
my model is simply
$$\begin{gather}
\dot{r} = v \\
\dot{v} = F/m \\
r(t_0) = 0\text{ m}, $v(t_0) = 0\text{ m/s}, m = 1000\text{ kg}
\...
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PI or PID-regulator for control system with hysteresis relay in inner loop
I have such control system (sorry for rough drawing :) )
$G(s)$ - stable object with proper transfer function.
$1/s$ - integrator.
I need to clarify, how synthesized PI or PID controller for such ...
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45
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Inverted pendulum PID: controller causes cart to move at constant velocity?
I am trying to understand the PID controller of an inverted pendulum on cart system through this MATLAB article: https://ctms.engin.umich.edu/CTMS/index.php?example=InvertedPendulum§ion=...
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Is this function common in PID controllers?
I'm reading some old microcontroller code for a PID algorithm. There's a strange function (to me) that seems to work like this:
$output = \frac{1}{n}input + \frac{n-1}{n}previous\_output$
The value $...
- 121
2
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43
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How to control an underactuated platform with a single servo
What's the best way to control the following type of platform so that it remains balanced and upright?
It's a box supported by a single leg that can pivot at the foot (F) and at the hip (H). The foot ...
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(Dominant) Poles very close to zeros in PID control
I have a plant transfer function $G(s)$:
$$ 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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1
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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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574
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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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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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0
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50
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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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268
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Designing a PID Controller for Satellite Control
As an Aerospace Engineering Student, I have been trying to make a project of a PID Controller to control the attitude response of a satellite using the parameters from a project called Kufasat.
The ...
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314
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Is there a maximum phase margin a PID controller can give?
I'm having trouble understanding the plot attached. The bode plot here shows the bode plot of a plant to be controlled with PID. So, if I want a phase margin of 30 degrees at the bandwidth frequency, ...
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987
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FOC algorithm for BLDC motor and rotor position estimation via IMU
I would like to implement the Field Oriented Control (FOC) algorithm on my STM32 board for controlling a 3 phases sensorless BLDC motor.
By googling I found a very interesting Application Note from ...
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Theory of steady state error and dynamics of error for automatic control systems
I'm currently studying control systems specifically the mass-spring-damper system.
Which is described by:
$$\ddot{y}=(b/m)\dot{y}+(k/m){y}=(b/m)\dot{u}+(k/m){u}$$
Where
$b:$ coeffiecient of ...
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I need to design a controller for a system, need to choose between P, PI, PD, and PID, given only the desired ss, settling, and overshoot %
(Apologies for terrible formatting, first post and don't know how to make equations look nice)
The system is
$$G(s)=\frac{10}{4s^2+7s+23}$$
and the requirements are steady state error of zero, $10ms$ ...
0
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1
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39
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Iterative Method through FEM
Due to reasons, I can not fully describe the process explicitly so I will be using substitutes to represent the variables.
Nomenclature:
x - an independent variable
y - another independent variable
Fz ...
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51
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How to implement H-infinity controller in STM32 platform?
I used matlab to simulate some H infinity controllers, and I have some understanding of the related theory. But I don't know how to implement H-infinite controller on STM32 platform using C/C++ code.
...
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41
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Designing a PID controller for a Type 1 System
I don't know if this is the right place to ask this so I'll give it a try.
Given the following system, for example
$$
P(s) = \frac{40}{s(s+4)},
$$
I have to design a PID controller that must satisfy ...
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69
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How to calculate the integral and derivative term and integral and derivative time in a PID controller?
I am designing a PID controller.
While calculating integral controller, should you calculate mean of all the past errors or only calculate mean of past n samples? In the case of latter, how to pick n?...
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34
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steering wheel angle control
I am working on an autonomous vehicle's control, specifically the steering wheel angle control.
Knowing that I used kinematic bicycle model, my questions are:
How do I choose the actuator for my ...
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27
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Discharge through a gate - Feedback needed
I need to make a PI feedback loop for a hydro power plant. The discharge through one gate is given by Q in equation 4.2. I need to keep (regulate) H = 116 m.a.s.l (meters above sea level) where H = Hg ...
0
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1
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59
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Orientation and horizontal position control of a bar in 2D
I have a scenario where I have a bar of 0.1 m in length, 10N weight is applied in the center. Two forces are applied on the bar at both ends vertically, right one if 5.1 N and the left one is at ...
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105
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How do you find the gains for a PI controller with a first order plant and 2nd order low pass filter?
How can analytically work out the gains knowing the required bandwidth and damping? The plant to be controlled is first order. The low pass filter is 2nd order in the feedback path.
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76
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How can I find characteristic equation of complex systems?
I am working on an Overhead crane, where I am supposed to design a controller that controls the position of the crane while minimizing the load's sway angle. I have derived the transfer functions for ...
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33
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Modelling an S-shaped Second Order Process Response
I am trying to model an S-shaped second order process response as a transfer function in Simulink, as shown in figure 3 in the linked article. Ideally the response should be overdamped. I have tried ...
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Finding optimal PID gain values with no Transfer Function or Plant model
Background:
I have a Matlab simulation model with .m files. The functions simulate a speed control system of a vehicle. I can control the vehicle's speed by adjusting the vehicle’s acceleration and ...
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37
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Control scheme for roll compensation
I'm working on an application that rotates a cylindrical mass in a manner to compensate for roll in a boat. The roll of the boat is rather slow so I was thinking it might be possibly to simply use a ...
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46
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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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186
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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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46
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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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70
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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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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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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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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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31
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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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68
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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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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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39
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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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Design op-amp circuit from transfer function
What is the best way to design a circuit based on the following transfer function:
$$T(s)=\frac{9216}{(s^2 + 48s + 9216)}$$
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How do I get the closed-loop transfer function of the system, fitted with a PID controller, if the input valve has a transfer function?
How do I get the closed-loop transfer function of the system, fitted with a PID controller, if the input valve has a transfer function given by:
$ \frac{Q(s)}{P(s)} = \frac{Kv}{(Tv*S+I)} $
Where Kv ...
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How does a digital controller's sampling period dictate the system's actuation requirements?
When selecting an actuator for a controls application - e.g. choosing a servo motor for a self-balancing robot - I understand that it's important for the actuators to have fast enough dynamics that ...
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252
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Derive a Transfer Function from first principles (PID, system identification, statics)
I want to derive a transfer function of my system so I can plug it into MATLAB and use the PID tuner tool.
My system is a balancing beam with a motor on each end of the beam.
My first principles ...
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How to tune PID for a step response
I am very much confused finding the time constant and DC gain for the below step response. The idea is to find PI gains for speed control and I am following this tutorial online Tutorial Link
Motor ...
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Control: control action of a PID controller with feedback
I'm programming the controller for a drone and I've got a question that may be basic, but I need to understand this perfectly to continue with the most interesting part of the project.
The sensors of ...
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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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Any idea about what does this image represent in control systems?
I just need a hint , I know it's out of context but that's how I found it in a Facebook group, I thought someone might have seen this before, I study automation and I know that Kp is the proportional ...
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Limiting PID controller's output making the plant unstable and untunable
I am using the PID block in Simulink and limiting the output to (+/-)5. The plant becomes unstable and untunable after putting these limits. The plant is stable and tuneable otherwise if no limits are ...
