PID system control...How can I set the values for kp, ki and kd?

VEX V5 General Discussion General Forum
#1

Hello everyone. I need some recommendations to tune the constants of a PID control system for a 4-motor drivetrain with mecanum wheels, whose sensor is the internal encoder of the motors. How can I set the values ​​for kp, ki and kd?
Thanks

#2

You just have to use trial and error. There are some strategies/orders of tuning but in general you end up doing guess and check (in my experience)

#3

There are a lot of systematic methods for tuning PID controllers. Although I haven’t spent a lot of time using them, I was mentored by a team that did. Check out the PID Controller Wikipedia page for more information. The specific method that my mentor team had used is called the Zieger-Nichols Method. There is a subsection for that method in the wikipedia page.

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#4

Thanks for your help. But, it’s possible to do it manually, I read that. But I would like to know the experience of how it is done? Can we use some data from the V5 brain to do it?

#5

pid_control_document.pdf

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#6

Please be more comfortable with using the search bar before making a post :slight_smile:

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#8

Pleased to see my old document is still supporting people today! Just FYI, I released an updated version a couple of years ago or so here: http://georgegillard.com/documents/2-introduction-to-pid-controllers

Cheers,

George

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#9

Thanks for sharing with me!