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PID Tuning Procedure

This document provides a procedure for tuning the gains of a PID controller to achieve stable, responsive, and accurate control of a vehicle. The procedure involves initially setting all gains to zero and incrementally increasing the proportional, integral, and derivative gains through iterative testing and evaluation in a vehicle simulator. The goal is to optimize the PID gains to minimize overshoot and oscillations while allowing the vehicle to respond swiftly without instability or erratic behavior across various testing scenarios that mimic real-world conditions.

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mohameddiasty159
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26 views12 pages

PID Tuning Procedure

This document provides a procedure for tuning the gains of a PID controller to achieve stable, responsive, and accurate control of a vehicle. The procedure involves initially setting all gains to zero and incrementally increasing the proportional, integral, and derivative gains through iterative testing and evaluation in a vehicle simulator. The goal is to optimize the PID gains to minimize overshoot and oscillations while allowing the vehicle to respond swiftly without instability or erratic behavior across various testing scenarios that mimic real-world conditions.

Uploaded by

mohameddiasty159
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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PID

CONTROLLER
TUNING
PROCEDURE
Objective of Tuning: The goal is to
achieve stable, responsive, and
accurate control of the vehicle in
various driving scenarios

INITIAL Initialize the PID controller with all


gains set to zero
C O N S I D E R AT I O N S

Determine the system transfer function


to be used in the simulations to avoid
real world experiments
It determines the reaction to the current error, the
difference between the desired and actual state

Incremental Increase of P: Start with a nominal


value for P, such as 0.1, and gradually increase it
in small increments

P R O P O RT I O N A L Observation and Data Recording: For each


increment in P, conduct a test run in the simulator
GAIN TUNING
Oscillation and Settling Point: Identify the point at
which the vehicle starts to oscillate

Determining Optimal P Value: Once oscillation is


noted, reduce P to about half of the oscillating
value
Role of Integral Control: The integral term aims
to eliminate residual steady-state errors,
improving accuracy over time

Gradual Increase of I: With an optimized P


value, start increasing the integral gain from
INTEGRAL GAIN zero

TUNING
System Response to I Adjustment: Monitor
how the system corrects any persistent offset

Balancing I Gain: Continue adjusting I until


the vehicle corrects offsets within an
acceptable duration without causing excessive
oscillations or instability
Understand Derivative Control: The derivative term predicts
Understand system behavior and smoothens the control action

Starting with Small D Values: Begin with a low value of the


Starting derivative gain, such as 0.05 or 0

D E R I VAT I V E G A I N
TUNING Increase Incremental Adjustment: Gradually increase the D gain,
observing the effect on the system's response

Optimizing D Gain: The goal is to find a D value that


Optimizing minimizes overshoot while still allowing the vehicle to respond
swiftly to changes
Re-evaluating P and I Gains : After
adjusting D, it's essential to revisit P
and I gains

I T E R AT I V E Comprehensive Testing: Conduct


extensive testing in various
scenarios within the Carla simulator
FINETUNING

Adjustment Based on Testing :


Adjust the gains based on the
performance in these test scenarios
Extended Testing Sessions: Run
prolonged testing sessions in the
simulator, covering a wide range of
driving conditions and scenarios

Performance Evaluation: Evaluate the


*FINAL vehicle's performance based on key
metrics such as response time, accuracy
VA L I D AT I O N in following the desired path, stability,
and handling of disturbances

Adjustments for Consistency: Make final


adjustments to the PID gains to ensure
consistent and reliable performance
across all test scenarios
Overshoot and Oscillations: If the vehicle
experiences excessive overshoot or oscillations,
consider reducing the proportional gain or
increasing the derivative gain

Steady-State Error: If the vehicle consistently fails


to reach or maintain the desired state ,
incrementally increase the integral gain
*TROUBLESHOOTING
COMMON ISSUES Sluggish Response: A sluggish or delayed response
might indicate that the proportional and derivative
gains are too low

Instability and Erratic Behavior: If the vehicle


exhibits instability or erratic behavior, reduce all
gains and reassess the tuning process, starting with
the proportional gain
*PRACTICAL Simulate Real-World Scenarios:
Benchmarking Against Real
Vehicles: If possible, compare the
Ensure that the scenarios in Carla performance of your simulated
TESTING TIPS closely mimic real-world
conditions
vehicle with real-world data or
with standard benchmarks in
autonomous vehicle control
*FINAL REVIEW
A N D O P T I M I Z AT I O N Comprehensive Analysis: After extensive Optimization for Efficiency: Look for
testing and fine-tuning, conduct a final opportunities to optimize the PID controller
comprehensive analysis of the vehicle’s for efficiency, which might include reducing
performance energy consumption or optimizing for
smoother ride quality
REFERENCES

HOW TO TUNE A PID A PID TUNING GUIDE | MANUAL AND AUTOMATIC


CONTROLLER UNDERSTANDING PID PID TUNING METHODS |
CONTROL, PART 4 UNDERSTANDING PID
CONTROL, PART 6 - YOUTUBE
THANK YOU!

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