Hi -
I know the following isn't about PLCs but I've seen some great info about PID controllers here, so was hoping for some help. I am absolutely beginner in all of this...
I am making a self balancing bicycle (something like this: https://www.youtube.com/watch?v=kEctw-TUCcs) and will use a PID controller to control the PWM to the flywheel motor.
I believe that I need only a PD controller and that I will not help here as there is no steady-state error. Would you agree?
However, one concern I have with the use of D is, since this is a rapidly changing system (the PV - angle - will change quickly due to falling and then the correction by the flywheel), won't this cause a very high PWM (since de/dt will be high)? As I understand it, D causes dampening to reduce overshoot from P. To dampen the effects of the P, I understand I need a suitable D (relatively large)...but then doesn't the derivative also kick in as the error increases? So, the D will now cause a high PWM output, thereby causing potentially some overshoot.
Also, can you give some hints on tuning the PID for this? I have tried the difficult manual method without much success. I'm not sure how to apply some of the other methods I've read about in such a system since measuring variables is very difficult.
I know the following isn't about PLCs but I've seen some great info about PID controllers here, so was hoping for some help. I am absolutely beginner in all of this...
I am making a self balancing bicycle (something like this: https://www.youtube.com/watch?v=kEctw-TUCcs) and will use a PID controller to control the PWM to the flywheel motor.
I believe that I need only a PD controller and that I will not help here as there is no steady-state error. Would you agree?
However, one concern I have with the use of D is, since this is a rapidly changing system (the PV - angle - will change quickly due to falling and then the correction by the flywheel), won't this cause a very high PWM (since de/dt will be high)? As I understand it, D causes dampening to reduce overshoot from P. To dampen the effects of the P, I understand I need a suitable D (relatively large)...but then doesn't the derivative also kick in as the error increases? So, the D will now cause a high PWM output, thereby causing potentially some overshoot.
Also, can you give some hints on tuning the PID for this? I have tried the difficult manual method without much success. I'm not sure how to apply some of the other methods I've read about in such a system since measuring variables is very difficult.