For small, low torque motors with little or no gearing, one procedure you can use to get a good baseline tune is to probe it's response to a disturbance. To tune a PID use the following steps: Set all gains to zero. Increase the P gain until the response to a disturbance is steady oscillation.

The reason for the question is that you have four independent PID loops acting on the same mass. You can't tune them simultaneously. Hence my guess that constructing a tuning fixture loaded with 1/4 of the mass might be the best idea. $\endgroup$

2020年5月1日 · I have a two-wheeled robot, with each wheel hooked up to a PID controller (using the pid package) and rotary encoders providing the plants' states. I would like to tune the two controllers but wanted to know whether it's better to tune the robot in real life or to have the robot defined in URDF, then tune it in a simulator.

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) to achieve it given the desired one and the current one (plus derivative).

2017年4月27日 · A PID coefficients can be estimated from data using a simple gradient descent approach. MATLAB codes link and detailed text link, that I wrote can be found in the given links. You can perform this learning iteratively to keep updating the PID coefficients.

2014年11月4日 · 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 papers about singleton tuning but this paper shows totally fuzzy control. find PID gains with ziegler-nichols (or another technique)

so I am working on a Self Balancing Bot with Arduino Mega. I'm using 12V 200 RPM motors with built in 840 PPR quadrature encoders. The torque rating is as follows: Rated Torque: 2.4 Kg-cm Stall To...

Question: A PID controller has three parameters Kp, Ki and Kd which could affect the output performance. A differential driving robot is controlled by a PID controller. The heading information is sensed by a compass sensor. The moving forward speed is kept constant.

2017年11月21日 · I have a line following differential drive robot with a PID control. I successfully tuned (try and error) the P,I,D constants for a good stability in low speeds, but when I increase the speed, everything goes sideways. Therefore I want to solve this with a …

2015年12月1日 · To tune the PID you can follow the Ziegler-Nichols method. The order of tuning should be backwards, from end-effector to base. Another solution (and actually this would be my recommendation): You can leave the PID controllers of the servos as they are and do a trajectory planning. Instead of reducing the performance of the controllers (i.e ...