#pidtuning

[gustavlindstrom]

Matlab gives me nightmares. I saw it in your last post and I just😬

matlab is literally a blessing and a curse at the same time like. i have an overwhelming student-fueled hatred-terror of matlab but i also respect matlab very much because its such a powerful tool, u know? 

[codingheroesonline]

View this post on Instagram

A post shared by Richard Campbell (@aiinyourclass)

Looking for a creative project to keep you busy? Then check out this hand tracking system by @officialcutelava - - V2 of PID hand tracking system! 🙌⁠ ⁠ The new motor (encoder) and the 3:1 gearing is working out great. It’s practically able to keep out with the fastest hand movements. I have tuned it for the maximum responsiveness while still moving relatively smoothly. Definitely more reactive than V1.⁠ .⁠ code now uploaded at: https://github.com/Emilostuff/RailTrackerPID⁠ .⁠ #cutelava #arduinoprojects #robotics #arduino #arduinoproject #programming #coding #engineering #makersgonnamake #maker #learning #homemade #robot #electronics #electronicsengineering #inventor #controller #microcontroller #controlsystem #prototype #pid #pidtuning #technology #sensor #loop #engineeringstudent #engineeringlife #doityourself ( #📷 @emilostuff ) (at Busan, South Korea) https://www.instagram.com/p/B-zV50Ij9MC/?igshid=cadzda9p9p2z

[technteacher]

Show HN: PID Tuning Using WebAssembly and Vue

Show HN: PID Tuning Using WebAssembly and Vue 2 by pidtuner | from Blogger https://ift.tt/2IHsD0S

[snapowermakers-blog]

Self-Balancing Robot

Self-Balance Robot is somewhat which balances itself and automatically corrects its position on disturbance.

How it works-

It will be prevented from falling by giving acceleration to the wheels according to its inclination from the vertical.  If the bot gets tilts by an angle, than in the frame of the wheels, the centre of mass of the bot will experience a pseudo force which will apply a torque opposite to the direction of tilt.

Components-

1x Arduino UNO

1x HC-05 Bluetooth Module

1x MPU 6050

1x L293D

1x IC7805

1x Battery

2x 500 rpm MotorsAcrylic Sheet for building chassis

2x Motor clamps with screws

Some Large Screws

Jumper wires

Chassis-

Chassis is designed using Acrylic sheet.However,it can be designed using Wooden plank,plastic sheet etc. too.Sheet was cut to form 3 levels/floors.It's not mandatory,but is a good practice.No. of levels can be increased if desired.After markings,holes were made and chassis is assembled.

Connections-

A Fritzing file is shown below showing all connections.

MPU-6050 is used due to its DMP capability.It can procees the Raw Accelerometer & Gyro values to give the Yaw,Pitch,Roll.It greatly decreases the computation overhead.

HC-05 bluetooth module is used for communication between Bot and Android app.

L293d motor driver is used for controlling motor.

IC7805 voltage Regulator is used for providing 5V power supply to Arduino.However,using this IC is not necessary and battery can be directly plugged to Arduino.This is just used for Safety Purposes.

Software-

Libraries-

PID library by Brett Beauregard 

Jeff Rowberg's I2CDev libraries for the MPU-6050

Luis Rodenas's sketch to calibrate the MPU-6050 

digitalIOPerformance library for fast writing of pins

EEPROMex library by thijs for storing PID values in EEPROM memory 

Complete code can be found at GITHUB repository

PID Tuning-

This is most important part of the process and the most difficult too!Control engineers set the PID parameters by experience.It's an art learnt through experience.There are various methods out there for PID tuning.

The best simple & easy method for PID tuning is-

Set I and D term to 0, and adjust P so that the robot starts to oscillate (move back and forth) about the balance position. P should be large enough for the robot to move but not too large otherwise the movement would not be smooth.

With P set, increase I so that the robot accelerates faster when off balance. With P and I properly tuned, the robot should be able to self-balance for at least a few seconds.

Finally, increase D so that the robot would move about its balanced position more gentle, and there shouldn’t be any significant overshoots.

The PID tuning may take considerable time depending on the requirement and adjustment.

APP-

The initial app used for testing is  Arduino Bluetooth RC Car

PID tuning was done initially manually.A custom app has been developed for controlling robot.

Resources-

App , Electronics

References-

http://www.instructables.com/id/Simple-Self-balancing-Robot-w-Galileo-Gen-2/?ALLSTEPS

http://www.kerrywong.com/2012/03/21/a-self-balancing-robot-iii/

https://github.com/lukagabric/Franko/blob/master/Franko/Franko.ino