Questions tagged [pid-control]
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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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How to design a transfer function for a Model Rocket?
I am building a roll stabilized model rocket. I am beginner at controls systems. How do I find out the transfer function of the rocket. Although, I am aware of definitions and stuff of control systems....
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What is a definitive discrete PID controller equation?
I need the equation of a discrete PID controller and I find different answers from different websites. For example, here the answer is:
$$u[k] = u[k-1] + (K_p + K_i \frac{T_s}{2} + \frac{K_d}{T_s}) e[...
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PID control of a DC motor with PWM from Raspberry Pi - how to cross dead area?
I'm driving a DC motor (actually a linear actuator) with a Polulu motor controller from a Raspberry Pi. The motor drives if you ask for anything between 20 and 100% duty cycle, so there is a dead zone ...
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Equal proportional and derivative gains of PID
Is it common to take equal values for the proportional and derivative gains of a PID controller? if so what does it mean?
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Is the speed of a DC motor proportional to PWM?
I'm trying to control the speed of DC motor but unsure of the relationship between speed and PWM. I'm aware that the bigger the duty cycle, the larger the speed, but how exactly would this ...
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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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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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Books for learning PID control? [closed]
I am aiming to program a quadcopter flight controller as a personal project.
To be able to do this I understand one of the fundamentals is a PID control system . So my question is does anyone have ...
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Programming a gas mass flow controller rig
I'm trying to upgrade a multiple gas flow controller, which must be capable of controlling the mass flowrates of three gases independently through one outlet line to our system, and am in need of a ...
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Can a PID controller have a simple on/off output?
The crux of a PID controller is:-
output = Kp * error + Ki * integral + Kd * derivative
So typically there is proportionality and a continuously varying (analogue) output. In the case of a simple ...
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The relationship between the I control and the stability margin
While I'm reading the paper, it said
"The I control can makes the phase lag, so it can makes stability margin reduced."
Words are not same as that, but the meaning is the same.
How the I control ...
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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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How can we control the output temperature of a multi-input single-output pipe air-flow system?
I am trying to optimize the heat control of a test bench at our facility. The test bench is basically a pipe with an air flow that can be heated up to desired temperature. To heat the air flow up, ...
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Negative gain in Ziegler-Nicholas Oscillation Method?
For a plant G(s), the transfer function is given by:
$$G(s) = \frac{(10s+50)}{s(s^2+20s+2500)}$$
Using Ziegler-Nicholas method to get the parameter: $k_p = \dfrac{-1000}{3}$ and $w =-28.868j$.
Is it ...
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Advantage of anti-windup
What is the definition of anti-windup? How does it impose the constraints?
What are the advantages of MPC and anti-windup over each other?
Does anti-windup guarantee the constraints or does it just ...
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How to control the level in multiple connected tanks at the same time?
In a coupled tanks system, what is the control strategy to simultaneously control the level in multiple tanks. In this case the actuators influence multiple control variables. The system is as shown ...
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Where should I start to be a control system engineer? [closed]
I am a telecommunication and network engineer working as a programmer and data analyst. One of my dreams was and still to be a control system engineer and to design and program a smart robots and ...
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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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How does a closed loop control system actually work?
I'm currently taking classical control theory and have some questions regarding basic concepts related to closed loop systems.
Let's say I have a simple servo motor controlled by an electric current....
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Are all motors controlled with G-Code?
So I have laser cutter. And I am thinking about buying a control unit (this one, to be exact).
But my concern here is the following: If the input DXF file contains splines, they will be converted to ...
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What's a control system architecture that can track a ramping reference signal?
It's well-known that a control system with integral control can track a constant reference signal (command) with zero steady-state error.
What is needed to generate a controller that can track a ...
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Tricks for controlling process with logaritmich characteristics over 20 orders of magnitude
I'm building a machine that operates over 20 orders of magnitude with logarithmic process characteristics. I have tried regular PID and also all sorts of variations of PID and did not get good results....
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PID Gain Calculation
A component of a control loop is approximated by the following relation between input $x$, and output, $y$:
$y = 5x^2$
During normal operation, the value of input to this component ranges between $1$...
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Cascaded PID loop and parallel PID loop
What are cascaded and parallel PID loop and what are the differences between them. I searched on google and came across few websites but still i don't understand the the two types of control loops ?
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PID control for UAV [closed]
I'm working on a deltawing model airplane where I want to implement a PID controller to stabilize the pitch, roll and yaw (which are only controlled by two elevons). However, I don't know too much ...
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Layout of a controller for controlling a water pump
I'm currently writing a simulation environment in python/c for heat networks and got to the point where I'm implementing the controls for the environment.
The PID controller is already implemented and ...
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PID tuning of a classic voltage controlled three-phase rectifier
I have a three-phase synchronous active rectifier
I need to control it with a voltage oriented scheme like this:
But I have no idea of how to tune multiple PIs, I'm trying to do it by trial but I ...
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How do elevators stop at the exact landing spot when reaching a particular floor?
The floor the elevator moves to, is controlled by the lift PLC with all the algorithms developed over the years, and that I understand well. What I am not able to understand is how does the lift stop ...
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How to tune a PID for a pure integrator system?
Given a plant with a transfer function of K/s, how can I tune a PID to control it? I found articles explaining how to tune an integrator with time delay, but not for just a pure integrator system.
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Replacing PID with Lead–lag compensator?
I have a vehicle (I bought it and it proprietary and I have no information about any internals) which I want to integrate into my simulation environment. So far I have a physical model of it which I ...
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Tuning PID Controller
I have to determinate the power (Watts) for an oven to reach the Temperature Reference. And I have been given only the function to apply power to the oven and read the temperature.
I've reading the ...
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Cylinder position and speed control
I have cylinder model that I control with 4/3 directional valve. When 4/3DV control input is 10V, cylinder moves forward and when valves control input is -10V, then cylinder moves backward. I can get ...
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Using a PID to control rotation
I've been working on simulating drone flight in Gazebo (an open source robotics simulator).
Currently, I'm trying to control the drone's pitch / roll rotation using PIDs. It's important to remember ...
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Design op-amp circuit from transfer function? [closed]
What is the best way to design a circuit based on the following transfer function: (0.0364*s)/(0.0002*s + 1) ? I am trying to design the derivative stage of a PIDF controller using op-amps
EDIT: This ...
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How many controllers of output or state are available? [closed]
Im in daily basis see a lot of controller. Sliding mode PID. Fuzzy, adapttive. Controller based on lyapunov etc.
But how many are they that are actually in use in industry and when do we use them? ...
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Model-based Ziegler-Nichols tuning of a hover PID controller
Doing a fun project to reconnect with my engineering training: I would like to design a control scheme for hovering in-place at a set altitude with a vertically-oriented propeller, rocket, etc. Right ...
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What type of control system is this? open loop?
Suppose I have a liquid in a container, the type of liquid is such that it expands when its temperature rises. The contrainer is marked with scale to measure the height of liquid expanded. There is a ...
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What is the name of my feedback procedure in control system that I am using?
I have created a self balancing robot. It uses PID control to control its pitch angle and gets the feedback from gyroscope and accelerometer. But I have not used any sensor to feedback the ...
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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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Suggestion to control a gimbal bldc motor for positioning
I try to understand what the PID controller of a gimbal stabilizer boards
(e.g Storm32BGC) does influence?
From the IMU we get position and velocity after sensor funsion. The input variable of the ...
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How do I define settling time vertical line on root locus?
I want to understand how in process of design of a controller I have to meet requirements using root locus method. I know that for the given damping ratio I need to estimate the arccos of it and ...
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Motor Controller Design Considerations
I'm working on developing a speed controller for a motor that is geared to rotate a mass. Currently, the motor in question has a step voltage applied to it and moves the mass at a relatively slow ...
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PID position control when setpoint does not require continuous force
I'm struggling with the practical application of a PID control algorithm when the set point does not require any external force to stay in position.
For example, I have a geared electric motor that ...
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What is a PIAD controller?
I know a PID controller. Recently, I heard someone mention a PIAD controller. What is this? Is it a kind of extension of a regular PID controller?
In the control engineering litterature, I have only ...
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Writing a filtered derivative term of the PID controller into the C++ code
Everywhere I look, be it a PID, lead, lag control or anything else, there are Simulink schematics with transfer functions. This is all nice for system response simulation, however currently I have to ...
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When are overshooting controllers preferred over asymptotic ones?
Disclaimer
Designing the behavior of controllers is an important task for many applications. Every application needs its own requirements fulfilled. For example a CNC machine needs a controller with ...
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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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What means the velocity constant of the integration in PI controller formulas?
I have an equation of a PI controller. What means here the velocity constant "R" exactly?
$$m(t)=K(e(t)+R{\int}e(t)dt)$$
$$R=1sec^{-1}$$
