Learn how to manually tune a PID controller for an inverted pendulum system in this 25-minute tutorial video. Explore the STEVAL-EDUKIT01 kit from STMicroelectronics, which includes an Arduino, encoder, and stepper motor to create a feedback loop. Discover how to design a controller in code that can make a rod stand upright without human intervention. Dive into the process of setting up Arduino code to measure encoder values and drive the stepper motor, while using Python on a PC for communication and as the PID controller. Follow along as the video demonstrates the step-by-step process of tuning Kp, Ki, and Kd parameters to achieve a critically damped system. Gain insights into the applications of PID controllers in automotive and industrial settings, and access related resources for further learning about control theory and PID implementation.
How to Tune a PID Controller for an Inverted Pendulum
Overview
Syllabus
- Introduction to the Inverted Pendulum
- What is a PID Controller
- How to Tune a PID Controller
- Arduino Code to Measure Encoder and Drive Stepper Motor
- Python Code on PC Used to Communicate with Arduino
- Python Code Used as PID Controller
- Where to Find Code
- Tune Kd in the PID Controller
- Tune Ki in the PID Controller
- Tune Kd in the PID Controller
- Tune Bias Term in the PID Controller
- Conclusion
Taught by
Digi-Key
