A PID Tuning Guide | Understanding PID Control, Part 4
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- čas přidán 6. 06. 2024
- It can be difficult to navigate all the resources that promise to explain the secrets of PID tuning.
Some proclaim that PID tuning is an art that requires finesse and experience, while others are adamant that tuning requires a few rigid rules. Why is there such a vast difference? It is because PID tuning depends on the characteristics of the system. For that reason, a one-size-fits-all tuning method doesn’t exist.
- Download Code Examples to Learn How to Automatically Tune PID Controller Gains: bit.ly/2HKBh12
Get an overview of various PID tuning techniques ranging from model-based tuning to heuristic methods such as Ziegler-Nichols and Cohen-Coon.
Related Resources:
- PID Control with MATLAB and Simulink: bit.ly/2Qg57y8
- PID Control Made Easy: bit.ly/2Q7Hhor
- PID Control Design with Control System Toolbox: bit.ly/2QbdHy5
- Designing PID Controllers with PID Tuner: bit.ly/2QjVtLf
- PID Controller Tuning in Simulink: bit.ly/2Q9sIRc
- PID Controller Design for a DC Motor: bit.ly/2QfhlXS
- Automated PID tuning: bit.ly/2QeDfdP
- Embedded PID Autotuner: bit.ly/2QfhLNW
Watch more MATLAB Tech Talks: bit.ly/2rTc8Yp
Check out more control system lectures on Brian's Channel: bit.ly/2IUlvkw
Additional References:
- Summary of PID Tuning - Overview: bit.ly/2KEQ9yZ
- Control System Design with the Control System Designer App - Video: bit.ly/2KuAnr9
- PID Control System Analysis and Design - IEEE Article: bit.ly/2KoWMWV
- For a handy guide on how PID gains affect different requirements, see table 1.
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Hey everyone, thanks for watching! I know this was a whirlwind of a video so if you have any questions on any of it leave them here and I'll try my best to answer them. Cheers!
Hi Brian)
It is very interesting. You explained to me very clear.
Thanks for the feedback!
Great video! I wasn't 100% sure what you meant by an integrator-like plant, despite the example of a motor. Is that idea that a motor, given a constant signal, over time accumulates distance in whatever it's driving? It's not clear to me how that would obviate the need for an integral factor in the controller.
Oh, and can you point to any resources to help with the "understand the system you're controlling" bit?
That was confusing, wasn't it? A motor in position control acts like an integrator for the reason you state - it accumulates distance given a constant signal. The motor control example I used was a velocity controller, which doesn't act like an integrator since a constant voltage produces a constant velocity. Therefore, my statement about the motor controller was misleading. To understand why an integrating transfer function may not require an integrator in the PID controller, search Google for "transfer function type steady state error" and click on the UMich link at the top. There is a great explanation of transfer function type and how that relates to steady state error. If you want zero steady state error for a step input then your system needs to be a type 1 (or one pole at the origin, or another way of putting it - an integrator). If your plant doesn't have that integrator, then you'll need to add one in the controller. Hope this helps.
This was a nice overview of what I have learned in university. In the courses the things didn't form a good big picture but this helps me to put everything together so the knowledge becomes more useful
Hi Brian..I guessed it was you , that presentation and voice won't (your channel) forget that.,,
Best explanation.👍
Hello Brian, your videos are fantastic! A perfect tie-in for this Part4 PID Tuning would be Benjamin Vedder's VESC Tool, specifically, the PID Controller menu tab (the default numbers are meant to be tweaked for different motors, but there is no clear guide as to how). If you could integrate Benji's VESC Tool PID Controllers into your Part 4 PID Tuning video (as a new video), it would be of tremendous, immediate benefit to thousands of e-bike, e-skateboard and quadcopter users. Thank you!
Great Video. This series is giving me an understanding that my lecturer couldn't. Thank you.
I didn't click the like bottom every part but I have to say every part is crystal clear and the order is well arranged!! Thank you matlab for saving a disappointed ME student doing project^^
Awesome I am checking all your videos. Your method to explain is great. Congratulations!
You make stuff so much more understandable. the PID tuning flowchart was incredible!
Where is it ?
@@mnada72 Link in the description after: PID Control System Analysis and Design - IEEE Article. It is the first table in the linked article. (edit: The Flow Chart is in the video, for example at 11:30)
Brian, This is amazing! thanks so much !
This was a great little course. Thanks
PID tuning has never been explained in a more appreciable form
Brian ! You are amazing ,amazing!🙌😱🙏
Hi Brian. Thanks a lot for sharing your knowledge with us. I am working on a microgrid simulink model where voltage error is at the input of the PI controller. What result should I expect at the output of the controller? Do I need to get the value of the reference voltage by tuning the controller? Also can Ziegler Nichols method be used for all the cases?
Брайан, спасибо большое за знания!
Пожалуйста :)
Hi Great Video ! I was wondering what do you think about using nature-inspired heuristic methods, such as Genetic Algorithms and Particle Swarm Optimization algorithms to tune the PID values ?
I once worked in a Florida based company that manufactres security products and I implemented an algorithm (C and Assembly code) in the microcontroller that perfoms "Automatic-Self-Testing" for the product to save time testing the product after production, this also saved time and money on testing the product. The reason I metioned this is that now I am thinking of similar automatic-self-tuning algorithm that will drive the Drone to the desired behaviour and automatically adjust the PID gains over time to compensate for the aging and deformation of Dron parts and sensors. I think this kind of algorithm will solve the tuning problem of PID control loop. Has anyone done anything like that before? I guess such algorith may need a high MIPS ARM microcontroller with very generous memory. Once this is a success I will add it to the service of my small business.
Maybe a bit late, but for anyone interested in this kind of work, look into adaptive control
thanks for your nice explanation.
Brian that amazing thank you so much
Just amazing! Thanks a lot
ahh this was amazing thanks for explaining :D
This videos are amazing! Just a question: An artificial neural network could be considered as an automatic tuning?
Yup, It's called adaptive control
I believe ziegler-nichols 1st method about s-shaped output response and probably usable for real life systems.
What's "table 1" to see the gains on PID effects?
Hi! Thanks for the explanation! May I ask you which kind of software did you use for the "blackboard" presentation?
I draw everything in Photoshop with a black background using a Wacom tablet. I record the screen while I do the drawing using Capto (but any screen capture program will work). Then I take that video into Final Cut Pro to speed it up and cut out any mistakes I made. Finally, I record the voiceover in Final Cut and publish the video.
Thanks Adam! I didn't know what software Khan Academy used. I obviously copied his style though because I think it's a fun and effective way to convey information. I'll let people know of Smooth Draw next time I get this question.
Please what’s the difference between PID and QFT controllers? They all control the same Electro-hydrostatic Actuator position!
Please any answer!
Where is the handy chart of PID tuning for different applications?
It's in table 1 of this paper
@@ahnafsakib Where is it ?
Great!
what is 'table 1' in the description supposed to point us to? I was looking forward to the gains guide
That is a funny reference. Here's the table: blogs.mathworks.com/community/files/table-1.png
It's table 1 of the document that is in the link above it - PID Control System Analysis and Design - IEEE Article: bit.ly/2KoWMWV. I think the "table 1" bullet should have been indented or made more clear.
I believe that PID gains tuning should not be problem since the embedded firmware of the drone maybe able to implement such kinds of algorithms to performs Automatic-Self-Tuning. Someone must have done it somewhere around the World...!
What is Brian using to create these visualizations?
photoshop
I'm facing a challenge of refresh rate for the feedback sensor. The temp reading refreshes every 11 seconds, the PID goes from one extreme to the other in that time period and the temperature swing is large. How can I learn how to correct this?
Most likely the gain in the feedback is too high. Reduce P and I terms
@@odissey2 I will try this weekend thank you sir
Can we implement machine learning for better tuning and optimizing?
3:20 , lol i felt that xD
Oh great
Some auto-tuning like KMC does not work.
gg lost me this one..
Video on PID control:
czcams.com/video/71o4lFRBZnk/video.html
Is matlab free?
nope, but you can download a pirate copy
Lack of actual examples and edge cases, leaves manual tuning part with very little worth.
Great explanation. Please can you a little bit go slower ? Thx again
Thank you Brian . I really appreciate your work it is awesome . can you please share your email id?
*Come into a technical video*
*complain about the technicality*
Okay then.
way to technical ....