/* Robotic Arm */

guided by
Mrs. S. Sarala AP/ECE

project by
Rajeshwaran R.
Prashanth Udumula
Rajasha M.
VenKat Hari Narayan K.
Overview

Progress
PID control
Work to be done
References
 Progress
3D transform libraries
PID Control - done
Kinematics of motion control
Hardware - ongoing
PID Control
About
Tuning Parameters
Smart Tuning
 About PID

Stands for Propotional Integral and Derivative control

Error Value = Setpoint value - Present value
P depends on the present error
I on the accumulation of past error
D is a prediction of future errors, based on current rate of
change
 Propotional
Pout = Kp e(t)

Change to the output that is proportional to the current

error value
A high proportional gain results in a large change in the
output, for a given change in the error
Proportional gain is too high - unstable
Proportional gain is too low - less responsive
 Integral

Proportional to both the magnitude of the error and the

duration of the error
Eliminates the steady state error
Introduces stablity in the system
 Derivative

Propotional to the rate of change of the error

Reacts to sudden changes in the error
Limits the overshot produced by the integral term
 Tuning Parameters
Proportional gain, Kp
Faster response
An excessively large proportional gain - instability
and oscillation
Integral gain, Ki
Larger values imply steady state errors are
eliminated
The trade-off is larger overshoot
Derivative gain, Kd
Larger values decrease overshoot
But slow down transient response leads to
instability due to signal noise amplification
 Tuning continued
A 8 bit mirocontroller - 0 to 255

so
Kp = 0 to 255
Kd = 0 to 255
KI = 0 to 255

number of possiblities 256*256*256 = 16 777 216

Impossible to tune
Smart Tuning - heuristic approach

Increase the Kp till a steady state error is obtained

Increase the Ki till the error is eliminated
Make Ki =0 and increase Kd to see the response to a
sudden change in error
Lastly substitute all the values and make changes if
needed
 Work to be done
Hardware - ongoing
Kinematics of motion control
 References

Digital Control Engineering, by M Gopal new age

international publishers

PID - wikipedia - http://en.wikipedia.

org/wiki/PID_controller

PID control tutorials - http://www.engin.umich.

edu/group/ctm/PID/PID.html