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Study On Control of PID and Motor: Let's Start

The document discusses applying PID control to robot control as a new approach compared to traditional on/off control. It defines PID control and its proportional, integral and differential components. Diagrams show PID control blocks and the pros and cons of P, I, and D control individually. Simulation results show the effects of different P, I, and D values and that PID control can minimize error.

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raadhassan02
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16 views18 pages

Study On Control of PID and Motor: Let's Start

The document discusses applying PID control to robot control as a new approach compared to traditional on/off control. It defines PID control and its proportional, integral and differential components. Diagrams show PID control blocks and the pros and cons of P, I, and D control individually. Simulation results show the effects of different P, I, and D values and that PID control can minimize error.

Uploaded by

raadhassan02
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Study on control of

PID and Motor

Let’s
start
Robot control base
We tried to apply knowledge from mathematics and PID control
to robot control, which is a new approach from traditional ‘sensor+motor ‘control
with on/off switch basis

PID Control

On/Off Switch

Proportional

Sensor + Integral
Direct motor control

Differential
Definition of ‘PID control’ (1)

Proportional

PID is a reaction to errors to adjust current


PID Integral status to desired status by reducing error level
To set point and is proportional to size of error
Differential
Definition of ‘PID control’ (2)

Input Process
output Controller attempts to minimize error from output
by adjusting the input process control.
PID also stops in case of abrupt change to
block overshoot to secure a stabilization.

proportional Differential PID possesses all characteristics from proportional


PID P I D control, differential control and integral
Integral
control at the same
PID control diagram

Feedback

Output is feedback to input to adjust error value to set point


P-Control
Adjust
Set
point deviation

Control Time

Time

Diagram shows P-Control adjusts deviation to zero to meet desired


value as time goes
Pros and Cons of P,I and D

Classification Pros Cons


P Control Reduce time to target Unable to remove offset

I Control Exactness to target Overshoot

D Control Stable control Vulnerable to noise

Each P,I,and D control has its advantages and disadvantages, thus


need to collaborate each advantages
PID Control
simulation results
PID controller Block Diagram
Input signal for simulation test and setup value

Input Signal for test


Simulation results
of P,I, and D individually
Result shows us that there is a diffusion when P value is too high whereas
there is slow responsiveness when P value is too low

Diffusion from too high P value Slow responsiveness from too low P value
Result also shows that like P value case, there is a diffusion when I value
is too high whereas there is responsiveness when I value is low

Diffusion from too high I value Low I value


If D value is not set proper and is low, then it creates big error gap

D value is proper D value is low


Simulation result with
PID control
Simulation shows that with PID control, it reached desired value without
residual deviation
Further application of PID
PID can be further applied to diverse application such as motor
and temperature control

Motor or temperature control


• Cruise control of Automobile
• Propeller velocity control of quad-copter

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