Hardware Demo of a Digital PID Controller
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- เผยแพร่เมื่อ 27 ธ.ค. 2015
- The demonstration in this video will show you the effect of proportional, derivative, and integral control on a real system. It's a DC motor connected to an optical rotary encoder (quadrature) and is controlled by a digital control loop implemented on a TI Launch Pad MSP432. It uses a series of timers and interrupts to generate the PWM signals to the H-Bridge motor driver, read the pulses from the encoder, and calculate the control effort using a PID control algorithm. It also implements an anti-windup algorithm to improve the system stability since this is a real system and the motor saturates easily.
If you listen, you can hear the PWM signal whine as it adjust the current to the motor. When I push on the flag with my hand you will hear it go quiet. That's when the PWM is at 100% duty cycle and the audible PWM AC current going to the motor is now DC.
Post a comment if you liked the video!
You can download the code, design files, and parts list here:
github.com/arduinoNube/digita...
(out of date: sourceforge.net/projects/digi... )
Enjoy!
www.gregoryholst.com
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Thank you for not using any music
th-cam.com/video/aOl4YwAGyVw/w-d-xo.html
@@John-eh2zc not doesnt like music, doesnt like annoying background music in tech videos. Usually because one either cant listen to it atm or is already listening to their own music, or because the music used is really bad stock music
Man this is the best summary of PIDs an engineering student could get. Thank you!
Forastieri I second you.
This demo is simply amazing. I loved it a lot .
I'm glad you found it helpful! I actually built this for a mechatronics class demonstration at Georgia Tech where I did my teaching practicum (TA) during grad school.
Thank you very much for sharing it with us!
That is a very expressive hand
Yeah..its like its got a life of its own !!
I read it as 'expensive' and wondered why a prosthetic arm looked so real
I read expensive too ^^😄
I watched this video 4 years ago and now I'm doing my master's thesis on control and just today as I was thinking about it, it popped back into my recommended. Love it!
Nicolas S. Thank you for taking time to leave a note. I hope your thesis goes well! Glad you found the video helpful!
Phenomenal, and congratulations, this will help our students to understand PID and closed loop control systems.
th-cam.com/video/aOl4YwAGyVw/w-d-xo.html
It's amazing.
till now we seen only formulas and heard something like PID. But, now we can understand practically how it's work
Thank you so much
th-cam.com/video/aOl4YwAGyVw/w-d-xo.html
This is such a good demonstration about understanding the PID. I really wish I found out this video quite earlier when I was having a project in my Control System subject so that it would be less bloodier for my group.
This is phenomenal. So cool that you've shared the code, etc. Thanks so much.
Np. Let me know if you find it useful. -G
I heard about PID control from people in the BBQ world, but had no idea what it actually meant. Now, I am weeks away from getting a degree in Mechanical Engineering and I have a much better understanding. Your video really solidified everything and provides an excellent explanation of PID control. As a side project, I am going to build a PID controller to regulate temperatures of a smoker with the use of a fan.
A brilliant video demonstration with clarity and simplicity...well done! Thanks for the contribution.
This is one of the best Explanations for PID With practical meaning I have ever seen and understood. Thankyou !
*Finally in 2020 I found a hand that talks. Way explanatory video than people actually talking to explain*
th-cam.com/video/aOl4YwAGyVw/w-d-xo.html
I wrote a final paper on this concept for one of my math courses, yet this video explains the main idea in 3 minutes
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you saved my day. I couldn't wish more. Now I saw all these constants working, their effects in real time. thank you very much
Awesome demo. For me this is very informative and I recommend that everyone, using PID controls should watch this video.
Excellent teaching! Practical, hands-on and playful.
I was a Motion Control Engineer in my very first job 25 years ago, long before robots were cool like they are today.
I worked on streamlined robotic arms inside wind tunnels, satellite tracking TV transmission vans, formula 1 racing car "4 poster" testing rigs, air-to-air missile testing systems, and tank tracked robots that would crawl inside nuclear reactors using neodymium magnets that hugged the surface so they could drive upside down held up by magnetism!
At their core, all those projects worked because of PID control of DC motors. Some days I wish I'd staying in that industry... :-/
Thank you so much Mr.Gregory L. Holst , I salute you for such a great heart to share everything , it will help us to understand working and implementation of PID controller. You are at place of my professors. I will start working on your efforts . Thank you thank u again.
Love it. Great logical explanation. Makes control systems look easy
Finally after watching lot of videos about pid, your video helped me to understand pid easily.
Thankyou
I don't think I've ever seen better explanation of PID :)
Very Nice !
Great video, clear shows the function of PID.
It is much better than many explanation videos with too many words and formulas.
Best explanation for a PID controller. Very practical and amazing.
Best video on PIDs ! Short, well explained and covers all aspects of the subject.
th-cam.com/video/aOl4YwAGyVw/w-d-xo.html
Thank you. The missing info is found..... And all the code to build and explore further. Legend!
th-cam.com/video/aOl4YwAGyVw/w-d-xo.html
I couldn't understand PID controller how to use in real life. Perfect work! Thanks a lot :)
th-cam.com/video/aOl4YwAGyVw/w-d-xo.html
man i never understand the pids but now with ur video it looks really easy
Wow. Thanks for the video.
Actually, my Final Project when in college is similar to this, but only Software simulation. And you make my dream come true!
Finally a great demonstration to help us visualize these ideas!
I love control theory, it's my favorite branch of electronic engineering
Greetings from Colombia
At GeorgiaTech, Atlanta, I've had the change to physical watch this demo in ME6405 course with J. Rogers. Great job Gregory ! 👍
Great, clean and instructive demo! Thank you.
This perfectly bridged the gap between the math and real world output! Thank you :)
th-cam.com/video/aOl4YwAGyVw/w-d-xo.html
Fantastic work, thank you for taking the time to make this
great demonstration! the best on summary I've ever seen :)
Dude, you nailed that! That looks perfect, and you didn't even fine tune the parameters but it still works so good...
th-cam.com/video/aOl4YwAGyVw/w-d-xo.html
The idea of using a pendulum to demonstrate this is genius as it's so easy to imagine the movement in relation with underdamped and critically damped graphs in your minds eye
th-cam.com/video/aOl4YwAGyVw/w-d-xo.html
Great illustration. I'll share it with my fellow techs.
Probably the best PID Vid on TH-cam :)
th-cam.com/video/aOl4YwAGyVw/w-d-xo.html
Your demonstration is FAB. 👌 Thank you !
Very good demo of PID control nice demo hardware well made and executed
Thank you very much for sharing your excellent work with all of us.
One button, controls so many gains, frequency code... amazed.
Amazing! Your videos are helping me a lot in control theory!
i kinda now want just this youtube channel to have loads of videos of strange electroprojects with this talketive hand.
th-cam.com/video/aOl4YwAGyVw/w-d-xo.html
You actually deserve more than a million views until now :)
Thanks for a video where every second tells! 3 min. of PID essence.
This should be shown in classrooms!
best PID illustration video I have ever seen.
Extremely awsome demonstration, great job!
An absolutely amazing demonstration and final result!!!
you bring to light for my embedded project! Thank you!
Best explanation of PID I've ever seen.
Very clear, great job!
th-cam.com/video/aOl4YwAGyVw/w-d-xo.html
Awesome presentation of control theories.. Loved it..!!
I never quit knew how to prevent windup properly, i used to just reset the error when target was reached and it "worked" but was not how it should be done.
Had a look at your code and now have a better understanding of how to do it
Thank you! Really awesome and very good to understand the concept!
Thanks for sharing your design and code!
Great demonstration. Suitable for an introduction course in control. I subscribed your channel.
Thank you for this great demostration.
So cool! Thanks man, you taught me a lot in a short time
Phenomenal demonstration, thank you!
Now that is an awesome video. Thank you for doing this.
Awesome. Wish i had seen this when i was making a pid out if an arduino.
This is very cool thanks for demonstrating!
Very well explained video. It's a great project
Maybe you should do a basic tutorial for dummies on the P, I and D effects on the control system, it would be a great idea
th-cam.com/video/aOl4YwAGyVw/w-d-xo.html
Great video, it's help me understanding pid terminologi
Thank you for your effort in explaining. Great video. Keep it up (Literally using PID control xD).
Great ......
What I was looking for since long time
Thanks alot
Currently working on a DIY PID controller for homebrewing, I have just finished some tests and also ran some auto-tuning methods (Ziegler-Nichols), now I have the maximum overshoot down to 0,1K, which is really nice. But boy, it takes time! The output is used as PWM control for an SSR with a cycle time of 5 seconds. It must be fun to work with a system that reacts so fast like yours, you get instant feedback and can tweak more or less in realtime. I think, I'll build something similar, just for fun!
Hey man. Can you give some insigths and maybe some articles or content to implement a self tuning pid?
I worked at a company where the PID control was referred to as Pissing In the Dark.
Man those guys sucked. You rock!
hehehe what is the name of that company?
well it kinda is, you have to find the right parameters for it to work really well for your application, though once you find them it can be hella tight, though finding these controll parameters is an art and not really a science
Best demonstration on youtube!! Thanks a lot
Video so good you did all the teaching my proof needed when showing this to our entire lecuture lol
Very nice and explanatory demonstration. Thank you :)
+technoshamanarchist Hey, no problem. I'm glad you liked it. Maybe if there's enough interest, I'll do another video on how to build and program it. :)
+Gregory L. Holst That would be great :)
+1 I would love that!
A masterpiece! It's good you made it silent, because if its needed we could be put on pause without having half a sentence ;)
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Very interesting, thank you for sharing. Do you have the schematic? showing the connections of all the components used with the msp432?
TH-cam was made for this kind of videos. GREAT!!!
th-cam.com/video/aOl4YwAGyVw/w-d-xo.html
Hi Gregory, nice content! Do you authorize its download and use as support content in a educational simulator? Thanks
For high speed servos, it is common for the PID to be clocked at 6MHZ or more. Some applications are analog using 3 summed op amps. One for each component of PID. They are more difficult to tune. The Proportional is simple and can use a pot for gain. Derivative and Integral have both gain and time components which must be timed to the motor and load to be properly tuned. The gain is simple with a pot, but the time, involves changing capacitors, or changing the clock rate on a switched capacitor low pass filter, or other adjustable low pass filter.
This is a very cool demonstration!
Awesome. 10 hour version pls.
Ok, just a little bit more would be enough.
I do take requests. :) thanks for the comment. As soon as I hit 1000 subscribers I’ll make another video. Which would you prefer 1) how to build and program a PID controller or 2) a more in depth run through of what I showed in this video? Reply with a 1 or 2 and I’ll make the one with the most votes.
@@arduinoNube both, but if I had to pick just one I'd say #2. There's tons of libraries and example codes of PID controls for Arduino and other controllers out there, and it would be nice to have a good walk through explaining how to set it all up, but having the deepest and best understanding of the PID system itself can help with tuning and optimizing of any of those systems.
Excellent demonstration.
Very useful video for learning PID technology.
I just made Minecraft thermostat with it, thanks!
Oh! Can you make a video/screencast and post a link?
Working in progress
Great work Gregory
Best explanation ever.
This is amazing. Thanks.
In the code you have the derivative error as error_d = (error-error_old)/dt. What are the benefits to using a derivative approximation instead of calculating the derivative directly as you have done?
For example in Simulink's PID block you'll find that the derivative error is computed as error_d = N/(1 + N*error_integral). N is an integer. This removes some of the noise from the derivative term. What are the practical implications of this?
Loved it man. Thank you so much.
Very nice demonstration. Thank you. Many commented, that it's a good explanation, but it does not explain anything, it just shows it in operation. Is there more information about the exact setup, the motor, position sensor, controller, software?
Amazing. Thanks for sharing! I'm going to study your code now =)
Great demonstration. Could you let me know what motor you used as the one that is listed on the Ebay link is no longer available, Thanks.
this is awesome, thank you for this!
Thank you so much for this video!
so satisfying when it is set up correctly :)
th-cam.com/video/aOl4YwAGyVw/w-d-xo.html
Excellent stuff!
I would add one extra feature: u = Kp*error + Ki*error_i + Kd*error_d + offset;
Sometimes we have a deadband or the axis is fighting gravity; In reality, the Ki can never stabilise the axis.
I don't see why it couldn't? The I term just keeps accumulating error and would end up reeling in that offset or deadband on its own right? And if it's oscillating over the point then the D term is supposed to dampen those oscillations.
Neato! Thanks for sharing this with the world!
fantastic, I am looking at applications in robot control.
the integral is the bugger
Great Demo!!! I am trying to build a demo exactly like this using a Arduino microcontroller and I am wondering if it is actually possible and if your code can be converted to work with an Arduino instead of the Texas Instruments controller? I also have a question regarding the type and model of H-Bridge your using in this example as well as what the resolution (pulses per revolution) your using in this example. Any help you could give me would be immensely appreciated. Thank you!!
Hello Gregory ! Your video is great, and also one of the best explanations about PID control i've ever seen ! Could you tell me the specifications of the motor and encoder you used ? Thank you !
Excellent example of PID controller
Hello Gregory. First, thank you for this neat video, it's helpful to see a real system.
I had some questions regarding these notes about examples in your code:
// 6. Sampling time and Zero Order Hold
// 7. Integration Error
// 8. Uneven sampling times
With regard to 6, I would like to check my understanding. Are you identifying the sampling time with the controller loop rate? (100hz, 200hz, or 800hz in the video)
If you are, does the effect of a zero order hold with slower loop rates/sampling times act as a low pass filter that induces some kind of phase shift that is responsible for the vibration with high PID constants?
Were examples 7 and 8 completed/demonstrated in your video, and if not, are there any resources you can direct me to that treat these points mathematically?