I'm currently working on Self-Balancing Robot. However, my instructor wants me to calculate PID parameters instead of tuning them by hand. If I learn about it correctly, to calculate the PID parameters we need the transfer function. Is there any simple way to calculate it without a transfer function? Or using MPU6050 data to tune it?
If you calculate it, this calculation is called a transfer function.
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The MPU data can be used to estimate the tuning parameters. Search for "PID tuning" tutorials to learn how.
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Thank you. I mean each design have different transfer function, so how to have transfer function in our design ?
Thank you. Yeah usually people would tuning it by testing many try. However I want to some how calculate it first.
Then you would be calculating the transfer function. Any textbook on process control will explain how.
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yeh I had a look through it, I just want find the more simple way to calculate it because this is way too mechanically heavy or having a complicated equation. I guess I'll try to learn it anyway. Thank you for your information.
The control guru website, https://controlguru.com, is what I have used to learn how to measure bump or oscillation responses to then calculate the needed P, I, and/or D parameters. Its recommendations have worked quite well for my robots in the past. The methods discussed on that site don't require Laplace transforms or anything more complicated than high school math.
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Thank you. I was afraid of the Laplace transform part.
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