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Lesson Mastering PID control "PID without PhD"

Discussion in 'Miscellaneous' started by RacingMat, Sep 28, 2013.

  1. RacingMat

    RacingMat Well-Known Member Gold Contributor

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    RacingMat submitted a new resource:

    Mastering PID control "PID without PhD" - PID explanation and tuning method

    Read more about this resource...
    • Like Like x 2
    • Informative Informative x 1
    RacingMat, Sep 28, 2013
    #1
  2. bsft

    bsft

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    thanks Mat, It does depend on the device of control. Each PID will be different with different motors
    If its a JRK, we have base settings to get you moving, I helped Erwan960 with some base settings and the change from his were instantly better.
    • Like Like x 1
    bsft, Sep 29, 2013
    #2
  3. RacingMat

    RacingMat Well-Known Member Gold Contributor

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    Yes! it's great: with yours and Rob's parameters, Erwan got very quickly a working setup on JRK!... and without worries
    (I haven't bought JRKs but I'm sure now it's a very good solution!)

    And if someone intend to understand what are the meaning of the parameters you gave, or design its own PID program (Ard?)
    this document will offer answers :)
    • Like Like x 1
    RacingMat, Sep 29, 2013
    #3
  4. tadythefish

    tadythefish Active Member

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    • Informative Informative x 2
    tadythefish, Oct 2, 2014
    #4
  5. tadythefish

    tadythefish Active Member

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    the first thing you need to properly tune a PID system is something that you can measure the set point and process (output) of the system, so you can see the step response. I made some servo drives to power my CNC machine and i don't how to calculate the variables for a given system. So i used the old fashioned trial and error approach :p so i started with P I and D variables at zero and i started to increase the P gain. The higher the gain the faster the system will respond to changes ( think of it as an amplifier). the P number tells us how many timer the error signal is amplified. we do this until the output of the process (in my case the shaft of the servo) starts to oscillate around the set point. but care must be taken not to make the system unstable.
    Next we move on to the I variable. the integral variable is increased to stop the oscillations. The integral term reduces the steady state error, but increases overshoot. Some amount of overshoot is always necessary for a fast system so that it could respond to changes immediately. The integral term is tweaked to achieve a minimal steady state error.
    Next we increase the derivative gain until the loop is acceptably quick to its set point. Increasing derivative term decreases overshoot and yields higher gain with stability but would cause the system to be highly sensitive to noise. So care must be taken with the D variable.

    I hope someone can use this simple instructions in solving their problems :)
    • Like Like x 1
    tadythefish, Oct 3, 2014
    #5