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    Reserch On Code of PID Controller

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    ashutosh rai
    A PID controller uses proportional, integral and derivative terms to continuously adjust the output to a self-balancing robot's motors based on the difference between the desired angle and current angle. The document provides an overview of the code structure for a PID controller for a self-balancing robot, including initializing PID gains and error terms, calculating the proportional, integral and derivative terms in a control loop, and updating variables each iteration. Sample C code is also provided to illustrate calculating the PID output and using it in a simulation loop.

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    Reserch On Code of PID Controller

    Uploaded by

    ashutosh rai
    5 views2 pages
    A PID controller uses proportional, integral and derivative terms to continuously adjust the output to a self-balancing robot's motors based on the difference between the desired angle and current angle. The document provides an overview of the code structure for a PID controller for a self-balancing robot, including initializing PID gains and error terms, calculating the proportional, integral and derivative terms in a control loop, and updating variables each iteration. Sample C code is also provided to illustrate calculating the PID output and using it in a simulation loop.

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    Reserch on code of pid controller

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    Reserch on Code of PID Controller

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    A PID controller uses proportional, integral and derivative terms to continuously adjust the output to a self-balancing robot's motors based on the difference between the desired angle and current angle. The document provides an overview of the code structure for a PID controller for a self-balancing robot, including initializing PID gains and error terms, calculating the proportional, integral and derivative terms in a control loop, and updating variables each iteration. Sample C code is also provided to illustrate calculating the PID output and using it in a simulation loop.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    5 views2 pages

    Reserch On Code of PID Controller

    Uploaded by

    ashutosh rai
    A PID controller uses proportional, integral and derivative terms to continuously adjust the output to a self-balancing robot's motors based on the difference between the desired angle and current angle. The document provides an overview of the code structure for a PID controller for a self-balancing robot, including initializing PID gains and error terms, calculating the proportional, integral and derivative terms in a control loop, and updating variables each iteration. Sample C code is also provided to illustrate calculating the PID output and using it in a simulation loop.

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    Small Reserch on Code of PID Controller for SELF

    BALNCING ROBOT Ashutosh (21BEE1151)

    A PID controller, which stands for Proportional-Integral-Derivative controller, is commonly used in self-
    balancing robots to maintain stability and control their movements. The PID controller continuously adjusts
    the output to the robot's motors based on the difference between the desired angle and the current angle of
    the robot. Here's a brief overview of the code structure for a PID controller used in a self-balancing robot:

    1.Initialization:
     Define and initialize the PID gains (Kp, Ki, Kd) based on the system requirements and tuning.
     Initialize variables for error terms: previous_error, integral_term, and derivative_term.
     Set the target angle or position for the robot to maintain its balance.

    2.Control Loop:
     Read the current angle or position of the robot from the sensors.
     Calculate the error term by subtracting the current angle from the target angle.
     Calculate the proportional term by multiplying the error term by the proportional gain (Kp).
     Calculate the integral term by summing up the error terms over time and multiplying by the integral
    gain (Ki).
     Calculate the derivative term by finding the rate of change of the error term and multiplying by the
    derivative gain (Kd).
     Compute the control output as the sum of the proportional, integral, and derivative terms.
     Apply the control output to the motors or actuators of the robot to adjust their speed or position.

    3.Update:

     Update the previous_error with the current error for the next iteration.
     Update the integral_term with the sum of previous integral_term and current error.
     Update the derivative_term with the difference between the current error and previous error.

    4.Repeat the control loop until the robot reaches its desired state or an external
    condition is met (e.g., time limit).

     It's important to note that PID controllers may require tuning to achieve optimal performance for a
    particular system. Tuning involves adjusting the proportional, integral, and derivative gains to balance
    stability, responsiveness, and overshoot. Various tuning methods, such as manual tuning or autotuning
    algorithms, can be employed to determine suitable values for the PID gains.
     Sample code (in embeded C language)
    // Constants

    #define Kp 1.0 // Proportional gain

    #define Ki 0.5 // Integral gain

    #define Kd 0.2 // Derivative gain

    // Variables

    float targetAngle = 0.0; // Target angle for balancing

    float currentAngle = 0.0; // Current angle of the robot

    float prevError = 0.0; // Previous error for derivative term

    float integral = 0.0; // Accumulated error for integral term

    // Function to calculate PID control output

    float calculatePID(float target, float current, float dt) {

    // Calculate error

    float error = target - current;

    // Proportional term

    float pTerm = Kp * error;

    // Integral term

    integral += error * dt;

    float iTerm = Ki * integral;

    // Derivative term

    float dTerm = Kd * (error - prevError) / dt;

    // Calculate PID control output

    float output = pTerm + iTerm + dTerm;

    // Update previous error

    prevError = error;

    return output;

    int main() {

    // Simulation loop

    float dt = 0.01; // Time step of the simulation

    float simulationTime = 10.0; // Total simulation time in seconds

    int numIterations = simulationTime / dt;

    for (int i = 0; i < numIterations; i++) {

    // Read sensor data and update current angle

    // Calculate PID control output

    float controlOutput = calculatePID(targetAngle, currentAngle, dt);

    // Apply the control output to the motors

    // Update the current angle based on the motor response

    // Wait for the next time step

    return 0;

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