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05-23-2018 10:04 AM - edited 05-23-2018 10:06 AM
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
05-25-2018 04:12 PM - edited 05-25-2018 04:13 PM
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.
Regards,
05-25-2018 05:33 PM
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
05-27-2018 11:30 AM
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.
05-30-2018 09:53 AM
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
05-30-2018 10:01 AM
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