PID For Embedded Design

11/10/2016
PIDforEmbeddedDesignTutorialbyCytron
Live Search
Ex:Arduino,PIC....
Cytron Online
Store
PID for Embedded Design

Programming/Software
Popular Post
Robot Controller
June 22, 2012 by ober
Getting Started
On Graphical
User Interface
GUI
ByKongWaiWeng
RH2TMag,Vol.4,Mar2010
PIDcontrolsystemisoneofthemostmatureandcommonly
usedcontrolstrategiesintheindustrialfordecadesthanksto
its simple but effective algorithm. In this article, we will
XBee Series 2
Point to Point
Communication
discuss the basic concept of PID controller and how to

implementitintheembeddedsystem.
http://tutorial.cytron.com.my/2012/06/22/pidforembeddeddesign/
1/18
11/10/2016
Introduction
Closedloopcontrolsystemisanessentialtopicforembeddedsystems,
bringing together actuators and sensors with the control algorithm in
software.Forexample,motorspeedcanbecontrolledbyvaryingthe
PWMdutycycleusedtodrivethemotor.Thisistheopenloopcontrol.
However, due to the lack of feedback, the actual motor speed could
not be verified. This is important because driving the motor with the
same PWM duty cycle does not guarantee the motor to run at the
Moisture sensor
module (SNMOISTURE-MOD)
same speed under all circumstances. A motor will run faster in load
freeconditionthanunderloadwiththesamePWMsignal.Inorderto
Categories
control the motor speed, we need to close the loop by adding

feedbackoftheactualmotorspeedtothecontroller.
Besidesspeedcontrol,PIDcontrolsystemcanalsobeusedtocontrol
open all | close all

Buying Guides
CT ARM
otherparameterssuchasposition,temperature,waterlevel,stability,
CT UNO
Easy MP3 Shield
etc.Inthisarticle,wewilldiscusshowtoimplementaPIDcontroller
Espresso Lite V2.0
forpositioncontrolbasedonPR24.
Getting Started
Arduino
G15
LCD
PIC
TheProblemDCMotorPositionControl.
BeforewebegintodesignaPIDcontroller,weneedtounderstandthe
problem. In this example, we want to move the shaft of the motor
fromitscurrentpositiontothetargetposition.
Programming/Software
Raspberry Pi
Robots
Serial Communication
USB
Wireless
IoT
News
PIR
Product Guides
Projects
Rainbow Strip
rero
Seminars & Events
ThingSpeak
Uncategorized
Useful Tools / External Referen
2/18
11/10/2016
Find Us on
Facebook
CytronTechnologie
9,287likes
LikePage
Bethefirstofyourfriendstolikethis
CytronTechnologiesS
Bhdaddedanevent
Yesterdayat06:33
Wewanttomovetheoutputshaftofthemotorfromcurrentposition
totargetposition
There are a few terms commonly used to describe the PID control
loops,suchas:
ControlVariable(CV)Thisistheoutputofthecontrolloop.In
IoTHandsOnWorkshop101
UniversitiTeknologiMalaysia(UTM)
15peopleinterested4peoplegoin
thiscase,theCVisthedutycycleofthePWMsignalthatdrives
themotor.
Process Variable (PV) This is the feedback value returned by
the system to the controller. In this example, the PV is the
currentangleofthemotorshaft.
Set Point (SP) Set point is the value that we desire for the
system. In our case, the SP is the target position of the motor
shaftinangle.
Error(E) Error refers to the difference between the set point
andtheprocessvariable.Inanotherwords,itmeanshowfarthe
currentpositionofthemotorshaftfromthetargetposition.
3/18
11/10/2016
TheHardwarePR24
Note:PR24isalreadydiscontinued.Samplecodecanbedownloadhere.
The Cytrons DIY Project Set PR24 (PID Motor Controller) is the best
platformforbeginnertolearnthePIDalgorithm.Ithasthefollowing
features:
PIC16F876Aasthemaincontroller.
GearedDCmotorastheoutput.
Multiturn variable resistor connected to the motor shaft for
positionfeedback.
216CharacterLCDfortuningandtroubleshooting.
PresetsforPIDtuning.
DIYProjectSetPR24PIDMotorController
The sample source code for the PR24 (PID Motor Controller) can be
downloaded from Cytrons website under the PR24 product page
(GithubCytronTechnologies).
4/18
11/10/2016
TheImplementationofPIDController
ThePIDcontroller,justlikeitsname,comprisesaproportional(P),an
integral (I) and a derivative (D) part. The controller parts are
introduced in the following sections individually and in combined
operation.
ProportionalController
Whenthecurrentpositionofthemotorshaftisstillfarawayfromthe
target position, we want to apply more power to drive the motor
towards the target position so that we can reach there faster. When
the shaft is getting nearer to the target position, we will reduce the
power to slow it down. At the time the shaft reaches the target
position, the motor needs to be stopped. If the shaft position has
overshot,weneedtoapplynegativepowertothemotor(reversethe
motor)tobringitbacktothetargetposition.
In short, this is called proportional controller because the power we
applytothemotorisproportionaltotheerrorofthesystem.
Theblockdiagramofproportionalcontroller
Fromtheblockdiagramofproportionalcontroller,wecanseethatthe
PWM duty cycle (output) is the result of multiplying the error with a
constant,Kp.
5/18
11/10/2016
Error=SetPointProcessVariable
ControlVariable=Kp*Error
Figurebelowshowstheexampleofproportionalloopimplementedin
Clanguage.
ImplementationofproportionalloopinClanguage
The value of Kp needs to be chosen carefully in order to get the
optimum system response. Lower values for Kp will tend to give
smootherbutslowerresponses.
6/18
11/10/2016
SystemresponseforproportionalcontrollerwithlowKp
Higher values of Kp will yield much quicker response but may cause
overshoot,wheretheoutputoscillatesbeforesettling.
SystemresponseforproportionalcontrollerwithhighKp
Excessively high values of Kp may even throw the loop into an
unstablestatewheretheoutputoscillateswithouteversettlingatthe
setpoint.
SystemresponseforproportionalcontrollerwithexcessivelyhighKp
IntegralController
7/18
11/10/2016
As can be seen from the graph of P controller, the actual position of

themotorshaft,whensettlesdownwillnotreachthetargetposition.
This is because when the current position is near to the target
position, the error becomes very small and the computed PWM duty
cycle is too small for the motor to overcome the friction and gravity.
Thesmallerrorthatexistswhenthesystemhassettleddowniscalled
thesteadystateerror.
Steadystateerrorduetothefrictionandgravity
ToovercometheproblemofsteadystateerrorforthePcontroller,I
controller is being introduced. As its name suggests, the integral is
merelyanaccumulatederrorsignalsencounteredsincestartup.
Integral=(Error)
This total is multiplied by a constant, Ki, and is added into the loop
output.UnlikethePcontroller,theIcontrollerisrarelyusedalone,but
mostly in combination with the P or PD controller. When the system
hasalreadysettleddownwithasmallsteadystateerror,theintegral
stillcontinuestoaccumulateuntiltheCVislargeenoughtobringthe
PVinlinewithSP.TheequationsforPIcontrollerareasfollow:
8/18
11/10/2016
Integral=Integral+Error
ControlVariable=(Kp*Error)+(Ki*Integral)
Figure below shows the example of PI controller implemented in C
language.
ImplementationofPIloopinClanguage
JustlikethePcontroller,thevalueofKineedstobechosencarefully.
Toolowthevalue,thesteadystateerroriscorrectedveryslowlytoo
highthevalue,thesystembecomesunstableandoscillates.
9/18
11/10/2016
SystemresponseforPIcontrollerwithnosteadystateerror
Because the integral can grow quite large when the set point cannot
be reached, some applications stop accumulating the error when the
CVissaturated.
DerivativeController
Letssayyouaredrivingacar,andyouneedtostopyourcarexactly
100m from your current position as soon as possible. If you are
travelling at 10km/h, you would want to accelerate your car so that
you can reach the target sooner. In contrast, if you are cruising at
100km/h,youneedtostartbrakingsothatyoucanstopat100mand
will not overshoot. This is where the derivative controller comes into
play.
The derivative of any variable describes how that variable changes
overtime.InaPIDcontroller,thederivativeistherateofchangeof
theerror.Indigitalform,itcanbedescribedas:
Derivative=ErrorLastError
whereErroristhecurrenterrorvalueandLastErroristheerrorvalue
forthepreviousiteration.
10/18
11/10/2016
Negative values of derivative indicate an improvement (reduction) in

theerrorsignal.Forexample,ifthelasterrorwas20andthecurrent
erroris10,thederivativewillbe10.Whenthesenegativevaluesare
multiplied with a constant, Kd, and are added to the output of the
loop,itcanslowdownthesystemwhenapproachingthetarget.
Just like the I controller, the D controller is rarely used alone, but
mostly in combination with the P or PI controller. The equations for
thePDcontrollerareasfollow:
LastError=Error
ControlVariable=(Kp*Error)+(Kd*Derivative)
Figure below shows the example of PD controller implemented in C
language.
11/18
11/10/2016
ImplementationofPDloopinClanguage
The damping effect of the D controller allows the system to have a
highervalueofKpand/orKiwithoutovershooting.Inconsequent,this
will give the system a better response time to set point changes.
However,toohighthevalueofKdwillalsohavenegativeeffect.The
Dcontrollertensetoamplifythenoiseexistsinthefeedbackloop.If
theKdistoohigh,thesystemwillbecomejerkyifthefeedbackloopis
noisy.
MainMenu
HOME
PROJECTS
CATEGORIES
LOGIN/REGISTER
SHOP AT CYTRON
FORUM
12/18
11/10/2016
SystemresponseforPDcontroller
JoiningThemTogetherPIDController
ByjoiningtheP,IandDcontroller,wecantaketheadvantagesofthe
combined benefits from each controller. We have the P controller for
fastsystemresponse,Icontrollertocorrectthesteadystateerrorand
Dcontrollertodampenthesystemandreduceovershoot.
TheblockdiagramofPIDcontroller
FromtheblockdiagramofPIDcontroller,wecanseethattheoutput
oftheloopismerelythesumofoutputfromP,IandDcontroller.The
equationsforthePIDloopareillustratedbelow:
LastError=Error
MainMenu
HOME
PROJECTS
CATEGORIES
LOGIN/REGISTER
SHOP AT CYTRON
FORUM
Integral=Integral+Error
13/18
11/10/2016
ControlVariable=(Kp*Error)+(Ki*Integral)+(Kd*Derivative)
Figure below shows the example of PID controller implemented in C
language.
ImplementationofPIDloopinClanguage
MainMenu
HOME
PROJECTS
CATEGORIES
LOGIN/REGISTER
SHOP AT CYTRON
FORUM
SystemresponseforthecorrectlytunedPIDcontroller
14/18
11/10/2016
Summary
PID controller is a simple yet effective control system widely used in
industrial.However,toimplementthePIDcontrollerissimple,butnot
thetuning.TheprocessoftuningthePIDparameters(Kp,KiandKd)
is a continuous trial and error process. There is no exact way to
calculate the value for the parameters unless the whole system is
mathematically modeled and simulated. Experience is an important
factortogettheoptimumPIDparametersbasedontheobservationof
the system behavior during the tuning process. If you have inquiry,
feelfreetodiscussinourtechnicalforum.
References:
DennisClarkandMichaelOwings:BuildingRobotDriveTrains.
Thomas Braunl: Embedded Robotics Mobile Robot Design and
ApplicationswithEmbeddedSystems.
http://en.wikipedia.org/wiki/PID_controller
http://www.expertune.com/tutor.html
http://www.newportus.com/products/techncal/techncal.htm
http://www.dprg.org/tutorials/200310a/motorcontrol.pdf
MainMenu
Related Posts:
HOME
PROJECTS
CATEGORIES
LOGIN/REGISTER
SHOP AT CYTRON
FORUM
How RC Servo Works?
15/18
11/10/2016
Line-Following Robot Using LSA08 in

Serial Mode with PID
How does Stepper Motor Works Part 1

How Does Stepper Motor Works Part 2
Embedded, PIC Microcontroller, PID Control
19 5583 views
Prev Post
Next Post
WIZnet Serial to Ethernet

Gateway with PIC
Interfacing servo motors

controllers (SC08A and SC16A)
Microcontroller
using Arduino
MainMenu
HOME
PROJECTS
CATEGORIES
LOGIN/REGISTER
SHOP AT CYTRON
FORUM
16/18
11/10/2016
Related Post
Line-Following
Robot Using
LSA08 in Serial
Mode with PID
Controller
Using MDD10A
with CIKU
Getting Started
with MPLAB X
IDE
Quadrature
Encoder
2 thoughts on PID for Embedded Design

vamsi krishna says:
July 25, 2013 at 1:27 am
nice tutorial . is there any tutorial for implementing
the fuzzy logic in microcontroller for motor control
tinku jangid says:

August 24, 2014 at 5:33 pm
MainMenu
HOME
can u tell me how much we will generate in relate to

get a xed or set point frequency
PROJECTS
CATEGORIES
LOGIN/REGISTER
SHOP AT CYTRON
FORUM
Leave a Reply
17/18
11/10/2016
Your email address will not be published. Required elds are

marked *
Comment
Name *
Email *
Website
PostComment
Notify me of follow-up comments by email.

Notify me of new posts by email.
Cytron Technologies 2016

MainMenu
HOME
Seo wordpress plugin by www.seowizard.org.

PROJECTS
CATEGORIES
LOGIN/REGISTER
SHOP AT CYTRON
FORUM
18/18

PID For Embedded Design - Tutorial by Cytron PDF

Загружено:

Сведения о документе

Оригинальное название

Авторское право

Доступные форматы

Поделиться этим документом

Поделиться или встроить документ

Параметры публикации

Этот документ был вам полезен?

Это неприемлемый материал?

Авторское право:

Доступные форматы

PID For Embedded Design - Tutorial by Cytron PDF

Загружено:

Авторское право:

Доступные форматы

11/10/2016

June 22, 2012 by ober

discuss the basic concept of PID controller and how to

control the motor speed, we need to close the loop by adding

open all | close all

Espresso Lite V2.0

As can be seen from the graph of P controller, the actual position of

Negative values of derivative indicate an improvement (reduction) in

How RC Servo Works?

Line-Following Robot Using LSA08 in

How does Stepper Motor Works Part 1

WIZnet Serial to Ethernet

Interfacing servo motors

2 thoughts on PID for Embedded Design

tinku jangid says:

can u tell me how much we will generate in relate to

Your email address will not be published. Required elds are

Notify me of follow-up comments by email.

Cytron Technologies 2016

Seo wordpress plugin by www.seowizard.org.

Вам также может понравиться