Hello
i'm making a Ball Balancing Robot and trying to balance it through MPU6050 (Kalman Filter ) and Arduino PID library.
i'm now trying to fine tune the PID parameters , i tried many of the values but they were not good because the robot does not respond quickly to the angle change so it's fall 
what should i do in this case ? ,is it only PID parameters issue or what ? .
thank you
Set I and D to 0, increase P until the system oscillates quickly, then increase D until the oscillations smooths out, and then use I to get rid of any offset.
Power_Broker:
Set I and D to 0, increase P until the system oscillates quickly, then increase D until the oscillations smooths out, and then use I to get rid of any offset.
thanks for replying
how would my system oscillates quickly ? i mean i have 3 motor on a ball how would it oscillates ?
and for the parameters what's the steps i should try between each value ? 1,0.1 ...etc?
thanks again
malik1994:
thanks for replying
how would my system oscillates quickly ? i mean i have 3 motor on a ball how would it oscillates ?
and for the parameters what's the steps i should try between each value ? 1,0.1 ...etc?
thanks again
The system would oscillate by overshooting past the balance point (where you want the system to eventually hold its position when the PID tuning is complete) and then constantly over-correcting.
You'll need 3 PID loops, one for each motor. You will just have to do the above tuning process for each PID loop.
As for the steps in values, I have no idea; that's up to you. Try it and find out what works.