Self Balancing Robot (The PID Configuration)

[nourhene1996]

Hello everyone,

I'm a student who's working on my final year project, a self-balancing robot.

and while working on it, I've found a problem...

the problem is the PID value, the robot is working but can't balance properly, I tried to change the PID values too many times.

another problem is, we did not have so much time to understand the PID theories(without studying the transfer function) 

I will upload the photos of my LabView code, and the vi file, and please if anyone could help me, it will be a pleasure...

Thank you all and have a nice day 

[the_mitten]

Hi,

Ultimately, I think you'll benefit from investing more time into understanding the PID parameters . I'd suggest as a good starting place this white paper from NI. 

You could also implement existing PID algorithm code in your application instead of writing your own. LabVIEW even includes a VI (PID Autotuning, linked below) that will help you to tune your robot properly.

• PID VI
• PID Autotuning

Regards,

[nourhene1996]

Hello sir,

Thank you for replying to my question. I actually have used both of these PIDs and they gave me the same results as this code (still unstable). With changing the proportional and the other PID gains values I can see the robot acting a little better but it doesn't give me the wanted result. So I was wondering how to tune the PID in a more proper way to give me better results.

thank you 

[nourhene1996]

I have another question Sir,

I wanna ask about the accelerometer and PWM,If these two are not from the same type, could the PID work correctly or not ? .

I will upload a photo.

[TyVo]

nourhene,

Can you clarify what you mean by "type" for the PWM and accelerometer? The attached image didn't clarify what you are asking.

TyVo

[nourhene1996]

Hello TyVo,

Thank you for your respond.

What I meant by type is that in my PID Input i put the axe of the accelerometer of myRio and in the output after the regulation I put the input of the duty cycle of the PWM of myRio. Is it possible ?

Thank you,
Nourhene