Pid Tuning Workshop

Workflow

1. 1

   Design Control Loop

   30 minutes

   Define plant model, setpoint, control output limits, and tuning method (Ziegler-Nichols or manual).

   PID Tuning Calculator

   Show tips (2)
2. 2

   Calculate Initial Gains

   45 minutes

   Estimate starting Kp, Ki, Kd from plant parameters and required loop sampling rate.

   PID Tuning CalculatorSensor Sampling Rate

   Show tips (2)
3. 3

   Program Controls

   2-4 hours

   Implement PID controller in firmware, set sampling timer, and add serial logging for error plots.

   PID Tuning CalculatorSensor Sampling RateRobot Speed Calculator

   Show tips (2)
4. 4

   Test and Debug

   1 hour

   Apply step inputs, observe response, adjust gains iteratively, and verify steady-state error.

   Sensor Sampling RateRobot Shaft Torque and Gear Power Calculator

   Show tips (2)

Tools Used

• PID Tuning Calculator
  Primary

  Estimate initial Kp, Ki, Kd from plant time constants.

• Sensor Sampling Rate
  Primary

  Set control loop timer frequency for stable PID execution.

• Robot Speed Calculator
  Supporting

  Convert motor output to linear speed for velocity loop tuning.

• Robot Shaft Torque and Gear Power Calculator
  Reference

  Verify output limits stay within motor torque capacity during tuning.

Reference Materials

• Output Limits First

  Set actuator output saturation before tuning — unconstrained PID can burn out motors.

• Log Everything

  Serial plot setpoint, error, and output — visual feedback beats guess-and-check tuning.

• Simulate First

  Tune PID in simulation with plant model before running on real hardware — prevents damage.

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