PID parameters tuning for a ball on plate system

zaki_HDne · January 5, 2022, 11:43am

Hi,
I am using PID_V1 library with Arduino Mega to control a ball on plate system, I've tried to use different PID parameters, I couldn't get the ball stabilized, the ball keeps oscillating around the Setpoint Value, when I tune the PID parameters manually, I get either small or big oscillations, If you have any Idea (or ticks) about tuning the PID parameters, I would be thankful!

#include <SCServo.h>
#include <PID_v1.h>
#include <math.h>

SCSCL sc;
#include <Pixy2.h>
Pixy2 pixy;

float Roll_i;
float Pitch_i;
int X, Y;

//--------------------------- PID Parameters ---------------------
double SetpointX, InputX, OutputX;
double SetpointY, InputY, OutputY;



//ORANGE_BALL
double KpX = 0.92349, KiX = 0.99, KdX = 2.1091;
double KpY = 0.92349, KiY = 0.99, KdY = 2.1091;


PID myPID(&InputX, &OutputX, &SetpointX, KpX, KiX, KdX, DIRECT);
PID myPID1(&InputY, &OutputY, &SetpointY, KpY, KiY, KdY, DIRECT);
float usecLst = 0, errLst = 0, posLst = 0, pos = 0, errX = 0, dErr = 0;
unsigned long usec, dT;
//------------------------ Coordinates parameters ------------------
double k = 0;
int x = 0;                      //positon x axis
int y = 0;                      //position y axis
int z = 0;

int Xmax = 234;
int Ymax = 200;

int Roll;
int Pitch;

int S1M = 0;
int S2M = 0;
int S3M = 0;

int  input = 0;
float angles[3];

//----------------------Attachements coordinates-----------------------
//Base attachements coordinates
float b[][3] = {{4,    -2.0,       -2.0},
  {0,     4.89,    -4.89},
  {0.0,   0.0,       0.0}
};

//  Serial.print("b = \n");
//  printvector(b[][3]);

//Plate attachements coordinates
float p[][3] = {{4.5,       -2.25,        -2.25},
  {0.0,        5.51,        -5.51},
  {0.0,         0.0,          0.0}
};

//Serial.print("\np = \n");
//printvector(p);


//----------------- CONSTANTS NEEDED FOR COMPUTATION OBTAINED FROM DESIGN STAGE IN MATLAB ----------------------------

float s = 6;    //length of connection links
float a = 3;  //length of servo horn
float h0 = 6.6895; //"home" height of the platform relative to the base

void setup()
{
  Serial.begin(9600);
  Serial1.begin(1000000);
  sc.pSerial = &Serial1;
  pixy.init();
  pixy.setLamp(1, 0);
  Serial.println("Parallel Robot ");
  SetpointX = 25; //cm //85 + (50 * cos(k)) / (1 + sin(k) * sin(k));//
  SetpointY = 21;//cm // 55 + (50 * sin(k) * cos(k)) / (1 + sin(k) * sin(k));//
  myPID.SetMode(AUTOMATIC);
  myPID.SetOutputLimits(-8, 8);
  myPID1.SetMode(AUTOMATIC);
  myPID1.SetOutputLimits(-8, 8);


  //*****************Initial Robot Position***************************************
  int i;
  for (i = 0; i < 3; i++)
  {
    angles[i] = 10;
  }
  moveAllServos();
  Serial.println("Ball X coordinate, Ball Y coordinate, PID X output, PID Y output,usec,usecLst, ERRORX, errLst, ErrorV, DT");
}

void loop()
{ getServoAngles(0, 0, 0, 0, 0, 0);
  moveAllServos();

  /*if(Serial.available()){
    //  if ( pixy.ccc.getBlocks()) {
    //  input = Serial.parseInt();
    //  if(input==0)
    //  input=exinput;
    //  else exinput=input;
    // Serial.print("You typinpied: " );
    // Serial.println(input);
    // receiveBytes();*/
  //  printvector(&angles[0], 3);
  //}
}


/**************************************************************
   This function takes 6 floats and applies it to the 6 servos
*/


void moveAllServos()
{

  //----------------- CONVERT THE ANGLES FROM RADIANS TO DEGREES FOR COMPUTATION ----------------------------

  //  Serial.println(angles[0] * 57.29);
  //  Serial.println(angles[1] * 57.29);
  //  Serial.println(angles[2] * 57.29);

  //----------------- Servos Calibration ----------------------------

  S1M = map((angles[0]  * 57.29) + 50 , 0, 300, 0, 1022);
  S2M = map((angles[1]  * 57.29) + 50 , 0, 300, 0, 1022);
  S3M = map((angles[2]  * 57.29) + 50 , 0, 300, 0, 1022);

  S1M = S1M - 10;
  S2M = S2M - 40;
  S3M = S3M - 10;
  if (S1M > 400)
    S1M = 400;
  if (S2M > 400)
    S2M = 400;
  if (S3M > 400)
    S3M = 400;

  if (S1M < 150)
    S1M = 150;
  if (S2M < 150)
    S2M = 150;
  if (S3M < 150)
    S3M = 150;

  //  Serial.println("Servo Analog angles");
  //Serial.print(",");
  //  Serial.print(S2M);
  //  Serial.print(",");
  //  Serial.print(S1M);
  //  Serial.print(",");
  //  Serial.print(S3M);
  //  Serial.print(",");
  //---------------------------------------- Move Servos ----------------------------------------------------------------
  sc.WritePos(3, S1M, 0);
  sc.WritePos(2, S2M, 0);
  sc.WritePos(1, S3M, 0);

}

/**************************************************************
   This function takes in the desired orientation and computes the needed servo angles
*/
void getServoAngles(float roll, float pitch, float Pitch, float x, float y, float z)
{
  //----------------- Gettin The X & Y ball's coordinates ----------------------------
  int j;
  pixy.ccc.getBlocks();
  X =   pixy.ccc.blocks[j].m_x;    //Getting Ball Coordinate X
  Y =   pixy.ccc.blocks[j].m_y;    //Getting Ball Coordinate Y
  InputX = X * 0.18;
  InputY = Y * 0.18;
  if (x > Xmax)
    InputX = Xmax;
  if (y > Ymax)
    InputX = Ymax;

  //----------------- CONTROLLER COMPUTATIONS ----------------------------

  myPID.Compute();
  Roll  = OutputX;

  myPID1.Compute();
  Pitch = OutputY;
  //Serial.print("X:  ");
  Serial.print(InputX);
  //  Serial.print("   Y:  ");
  Serial.print(",");
  Serial.print(InputY);
  Serial.print(",");
  //Serial.print("   PIDX:  ");
  Serial.print(OutputX);
  Serial.print(",");
  //Serial.print("   PIDY:  ");
  Serial.print(OutputY);
  Serial.print(",");


//---------------------------Old values storage--------------------
  
  errLst = errX;
  usecLst = usec;
  usec = micros ();
  pos  = InputX;


//--------------------------Error Variation calculation
  dT   = usec - usecLst;
  errX  = SetpointX - pos;
  dErr = (errX - errLst) * 1000000 / dT;


  Serial.print(usec);

  Serial.print(",");
  Serial.print(usecLst);

  Serial.print(",");
  Serial.print(errX);

  Serial.print(",");
  Serial.print(errLst);
  Serial.print(",");
  Serial.print(dErr);
  Serial.print(",");
  Serial.println(dT);

  //----------------- CONVERT THE ANGLES FROM DEGREES TO RADIANS FOR COMPUTATION ----------------------------

  Roll_i = Roll * 0.017; //20 * cos(k)*0.017;//((20 * sin(k) * cos(k)) / (1 + sin(k) * sin(k)))*0.017; // 20 * cos(k)*0.017;//////// //Roll
  //  Serial.println("INPUT:");
  //  Serial.println(input);
  Pitch_i = Pitch * 0.017; //20 * sin(k)*0.017; // ((20 * cos(k)) / (1 + sin(k) * sin(k)))*0.017; //20 * sin(k)*0.017; ////// //;  //Pitch
  float phi   = Roll_i;//;20
  float theta = Pitch_i;//;
  float psi   = 0;
  //  k = k - 0.02;


  //compute rotation matrix for the planned euler sequence
  float R[][3] = {{ cos(psi)*cos(theta),    (-sin(psi)*cos(phi)) + (cos(psi)*sin(theta)*sin(phi)),    ( sin(psi)*sin(phi)) + (cos(psi)*sin(theta)*cos(phi)) },
    {sin(psi)*cos(theta),    ( cos(psi)*cos(phi)) + (sin(psi)*sin(theta)*sin(phi)),    (-cos(psi)*sin(phi)) + (sin(psi)*sin(theta)*cos(phi)) },
    { -sin(theta),               cos(theta)*sin(phi),                                                      cos(theta)*cos(phi) }
  };


  //  Serial.print("\nR = \n");
  //  printvector(R);

  //compute the translation vector
  float T[] = {x, y, (z + h0)};

  //Serial.print("\nT = \n");
  //printvector(&T[0], 3);


  //compute the vector q = T + R*p for the location of the connections in the base frame
  int i;
  float q[3][3];
  for (i = 0; i < 3; i++)
  {
    q[0][i] = (T[0]) +   R[0][0] * p[0][i]       + R[0][1]  * p[1][i]       + R[0][2] * p[2][i] ;
    q[1][i] = (T[1]) +   R[1][0] * p[0][i]       + R[1][1]  * p[1][i]       + R[1][2] * p[2][i];
    q[2][i] = (T[2]) +   R[2][0] * p[0][i]       + R[2][1]  * p[1][i]       + R[2][2] * p[2][i];
  }

  //  Serial.print("\nq = \n");
  //  printvector(q);

  //compute the necessary leg lengths (the distance from b to q) and save it as l for each servo. Take the norm to do it.
  float l[3];
  for (i = 0; i < 3; i++)
  {
    l[i] = sqrt(((q[0][i] - b[0][i]) * (q[0][i] - b[0][i])) + ((q[1][i] - b[1][i]) * (q[1][i] - b[1][i])) + ((q[2][i] - b[2][i]) * (q[2][i] - b[2][i])));
  }

  //Serial.print("\nl = \n");
  //  printvector(&l[0], 3);

  //use trigonometry and the other constants you know to extract the angle of each servo

  // float A[3]={cos(a11),cos(12),cos(13)};
  for (i = 0; i < 3; i++)
  {
    angles[i] = acos(((l[i] * l[i]) - 27) / (l[i] * 6));
    // angles[i] = 3.14 - asin(0.04 / l[i]) - acos(((l[i] * l[i]) - 27) / (l[i] * 6));
  }
}






/*******************************************************************************************************************************/
//---------------------------------------------------------- PRINT CALCULATED VARIABLES ------------------------------------------------------
void printvector(float myArray[3][6])
{
  int i, j;
  for (i = 0; i < 3; i++)
  {
    for (j = 0; j < 6; j++)
    {
      Serial.print(myArray[i][j]);
      Serial.print(", ");
    }
    Serial.print('\n');
  }
  Serial.print('\n');
}

void printvector(float myArray[3][3])
{
  int i, j;
  for (i = 0; i < 3; i++)
  {
    for (j = 0; j < 3; j++)
    {
      Serial.print(myArray[i][j]);
      Serial.print(", ");
    }
    Serial.print('\n');
  }
  Serial.print('\n');
}

void printvector(float* myArray, int rows)
{
  int i;
  for (i = 0; i < rows; i++)
  {
    Serial.print(myArray[i]);
    Serial.print(", ");
  }
  Serial.print('\n');
}```

StefanL38 · January 5, 2022, 12:26pm

How should somebody have any clue about any PID-parameter without knowing
the physical values of your system?

https://www.google.de/search?as_q=strategies+to+optimise+PID-parameters

This quoogling lead me to these new keywords
https://www.google.de/search?q=how+to+tune+PID-parameters

best regards Stefan

gcjr · January 5, 2022, 12:35pm

that sound pretty good. i doubt the ball would remain still

zaki_HDne · January 5, 2022, 12:36pm

why won't it remain still ?

zaki_HDne · January 5, 2022, 12:37pm

do you mean that I had to pass by the transfer function on MATLAB?

StefanL38 · January 5, 2022, 12:54pm

no idea what you want to ask with this and how you even got the idea to ask it.

Set all gains to zero.
Increase the P gain until the response to a disturbance is steady oscillation.
Increase the D gain until the the oscillations go away (i.e. it's critically damped).
Repeat steps 2 and 3 until increasing the D gain does not stop the oscillations.

zaki_HDne · January 5, 2022, 1:20pm

I did not understand what you meant by : "How should somebody have any clue about any PID-parameter without knowing the physical values of your system?"

StefanL38 · January 5, 2022, 1:44pm

You are trying to control a mechanical system.
The PID-parameters highly depend on physical properties of your system

what masses do the parts in your system have?
how much mechanical dampening does the system have?
how how stiff or elastic are the components?
what accelerations can be achieved?

people that have experience with certain PID-controlled systems can estimate from their experience what parameters could be used as a start.

But I think the generalised approach described above needs no theoretical analysis but just practical testing.
best regards Stefan

dlloyd · January 5, 2022, 3:33pm

The mother of all tuning parameters is the PID sample rate. Try

SetSampleTime(20); // 20ms

Also, speed up printing (if possible):

Serial.begin(115200);

zaki_HDne · January 6, 2022, 9:00pm

Actually, I tried the described approach above, but unfortunately when I increase P value, the plate goes out of the plate, I couldn't figure out if the response to a disturbance is a steady oscillation.

zaki_HDne · January 6, 2022, 9:02pm

This line

SetSampleTime(20); // 20ms

helps me a lot, it decreases oscillations and I am getting a better response, but unfrotunately the ball won't remain still...

StefanL38 · January 6, 2022, 9:22pm

So did you do this procedure?

zaki_HDne · January 6, 2022, 9:27pm

yes, When I increase the P while D is zero, the ball goes out from the plate, because error variation is 0 so, servo motors take time to react (they react slowly) so the ball drops down...

StefanL38 · January 6, 2022, 9:29pm

The general description shows a principle.
If your ball drops down
use start-values that keep the ball on your table and then proceed further in the same manner

dlloyd · January 6, 2022, 9:31pm

Are both PIDs at 20ms?

myPID.SetSampleTime(20);
myPID1.SetSampleTime(20);

Your printer at 9600 baud is very slow ... roughly 1ms per character. I'm sure this is interfering. Have you tried a higher baudrate? Perhaps just comment out printing as a test to see if this improves the PID responses.

zaki_HDne · January 29, 2022, 11:28am

Sorry for the late reply, Actually I rised the baud rate to 1M but, I set PIDsampleTime to 20, No I am getting the ball oscillating around the setpoint for like 2s than it goes out of that range it rolls away, than it get back to the first range where it was oscillating and so on...

zaki_HDne · January 29, 2022, 11:37am

This is what I am getting, first two columns are X & Y setpoint while the last columns are Actual X and Y ball positions respecively:

SetpointX,SetpointY, XActual, YActual
27.00,20.00,1.62,27.36
27.00,20.00,1.62,28.08
27.00,20.00,2.16,27.90
27.00,20.00,3.96,27.36
27.00,20.00,6.48,25.56
27.00,20.00,8.82,24.48
27.00,20.00,10.80,23.22
27.00,20.00,12.24,22.32
27.00,20.00,12.42,22.14
27.00,20.00,13.68,21.24
27.00,20.00,12.78,22.68
27.00,20.00,13.32,21.24
27.00,20.00,13.50,21.42
27.00,20.00,13.32,20.88
27.00,20.00,13.50,20.34
27.00,20.00,13.50,21.60
27.00,20.00,13.50,21.06
27.00,20.00,13.50,20.34
27.00,20.00,13.86,21.24
27.00,20.00,13.86,20.70
27.00,20.00,14.04,20.52
27.00,20.00,14.58,21.24
27.00,20.00,14.22,20.52
27.00,20.00,15.12,20.34
27.00,20.00,15.48,20.52
27.00,20.00,15.48,19.26
27.00,20.00,16.38,20.70
27.00,20.00,17.10,19.80
27.00,20.00,17.82,20.52
27.00,20.00,18.18,19.80
27.00,20.00,19.08,20.16
27.00,20.00,19.98,20.52
27.00,20.00,20.34,19.98
27.00,20.00,21.24,19.98
27.00,20.00,21.96,20.52
27.00,20.00,22.32,20.70
27.00,20.00,22.68,20.88
27.00,20.00,23.04,21.24
27.00,20.00,23.22,20.88
27.00,20.00,23.58,22.32
27.00,20.00,23.94,21.78
27.00,20.00,23.76,23.22
27.00,20.00,23.58,22.68
27.00,20.00,23.22,22.68
27.00,20.00,22.68,22.86
27.00,20.00,22.68,23.22
27.00,20.00,22.32,24.84
27.00,20.00,21.42,24.12
27.00,20.00,21.42,24.66
27.00,20.00,20.88,24.84
27.00,20.00,20.52,25.56
27.00,20.00,19.80,25.38
27.00,20.00,20.16,25.38
27.00,20.00,19.80,25.56
27.00,20.00,19.44,25.92
27.00,20.00,19.08,25.74
27.00,20.00,19.08,26.28
27.00,20.00,18.72,25.74
27.00,20.00,18.72,25.38
27.00,20.00,18.72,25.56
27.00,20.00,18.54,25.56
27.00,20.00,18.54,25.20
27.00,20.00,18.54,25.02
27.00,20.00,18.54,24.66
27.00,20.00,18.72,24.66
27.00,20.00,18.90,23.04
27.00,20.00,18.90,23.22
27.00,20.00,19.08,23.04
27.00,20.00,19.44,22.50
27.00,20.00,19.44,22.50
27.00,20.00,19.98,22.32
27.00,20.00,20.52,22.68
27.00,20.00,20.70,21.24
27.00,20.00,21.60,21.24
27.00,20.00,22.14,22.14
27.00,20.00,22.68,21.06
27.00,20.00,23.40,20.34
27.00,20.00,23.94,20.52
27.00,20.00,24.84,20.16
27.00,20.00,25.20,20.52
27.00,20.00,25.92,20.16
27.00,20.00,26.10,20.52
27.00,20.00,26.46,20.52
27.00,20.00,26.64,20.34
27.00,20.00,27.00,20.70
27.00,20.00,26.64,19.98
27.00,20.00,27.00,20.70
27.00,20.00,26.64,21.06
27.00,20.00,26.46,21.42
27.00,20.00,26.10,21.42
27.00,20.00,26.64,21.96
27.00,20.00,26.28,21.96
27.00,20.00,25.74,22.68
27.00,20.00,25.38,22.32
27.00,20.00,24.84,23.04
27.00,20.00,24.48,23.04
27.00,20.00,24.48,22.86
27.00,20.00,24.12,23.22
27.00,20.00,23.94,23.04
27.00,20.00,23.58,22.68
27.00,20.00,23.40,23.22
27.00,20.00,23.04,23.94
27.00,20.00,22.86,24.12
27.00,20.00,23.22,23.76
27.00,20.00,23.04,23.94
27.00,20.00,23.04,23.76
27.00,20.00,23.22,23.04
27.00,20.00,23.22,23.76
27.00,20.00,23.58,23.58
27.00,20.00,23.40,23.22
27.00,20.00,23.76,23.40
27.00,20.00,23.94,22.86
27.00,20.00,24.12,23.40
27.00,20.00,24.48,23.40
27.00,20.00,23.94,23.40
27.00,20.00,24.48,23.58
27.00,20.00,24.66,23.58
27.00,20.00,24.84,23.76
27.00,20.00,24.84,23.40
27.00,20.00,25.20,23.58
27.00,20.00,25.20,23.94
27.00,20.00,25.02,23.40
27.00,20.00,24.84,23.40
27.00,20.00,24.66,24.12
27.00,20.00,24.84,23.04
27.00,20.00,24.66,22.68
27.00,20.00,24.66,22.32
27.00,20.00,24.84,22.50
27.00,20.00,24.66,22.68
27.00,20.00,24.48,22.50
27.00,20.00,24.48,22.50
27.00,20.00,24.30,22.32
27.00,20.00,24.30,21.42
27.00,20.00,24.30,21.78
27.00,20.00,24.48,21.78
27.00,20.00,24.48,21.78
27.00,20.00,24.48,22.50
27.00,20.00,24.48,22.14
27.00,20.00,24.84,22.32
27.00,20.00,24.84,22.14
27.00,20.00,24.84,23.40
27.00,20.00,24.66,22.50
27.00,20.00,24.84,22.50
27.00,20.00,25.20,23.22
27.00,20.00,25.20,22.32
27.00,20.00,25.38,22.32
27.00,20.00,25.38,22.68
27.00,20.00,25.56,21.96
27.00,20.00,25.20,22.68
27.00,20.00,24.84,22.14
27.00,20.00,24.66,23.04
27.00,20.00,24.84,21.96
27.00,20.00,24.12,21.96
27.00,20.00,24.30,23.40
27.00,20.00,24.30,23.76
27.00,20.00,23.94,22.32
27.00,20.00,23.58,22.14
27.00,20.00,23.58,22.86
27.00,20.00,23.58,22.50
27.00,20.00,23.40,22.32
27.00,20.00,23.40,21.42
27.00,20.00,23.58,21.96
27.00,20.00,23.76,21.78
27.00,20.00,23.94,21.42
27.00,20.00,24.12,21.06
27.00,20.00,24.12,21.24
27.00,20.00,24.30,21.24
27.00,20.00,24.12,22.14
27.00,20.00,24.30,21.42
27.00,20.00,24.48,21.78
27.00,20.00,24.48,21.96
27.00,20.00,24.30,22.32
27.00,20.00,24.12,21.60
27.00,20.00,24.12,22.14
27.00,20.00,23.94,23.22
27.00,20.00,24.12,21.96
27.00,20.00,23.94,23.04
27.00,20.00,23.76,23.58
27.00,20.00,23.94,22.86
27.00,20.00,23.94,23.04
27.00,20.00,23.76,23.22
27.00,20.00,23.94,22.50
27.00,20.00,23.94,23.58
27.00,20.00,23.94,22.86
27.00,20.00,24.12,22.32
27.00,20.00,24.48,22.14
27.00,20.00,24.48,22.32
27.00,20.00,24.84,21.96
27.00,20.00,24.84,21.96
27.00,20.00,24.48,22.86
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27.00,20.00,22.68,23.40
27.00,20.00,22.86,24.12
27.00,20.00,22.86,23.04
27.00,20.00,23.04,22.68
27.00,20.00,23.04,22.32
27.00,20.00,23.04,22.14
27.00,20.00,23.40,21.78
27.00,20.00,23.40,20.88
27.00,20.00,23.22,20.34
27.00,20.00,23.22,20.34
27.00,20.00,23.58,20.52
27.00,20.00,23.22,19.98
27.00,20.00,23.58,20.88
27.00,20.00,23.58,21.06
27.00,20.00,23.76,22.14
27.00,20.00,23.76,20.34
27.00,20.00,23.58,20.70
27.00,20.00,23.04,22.14
27.00,20.00,22.86,22.14
27.00,20.00,23.04,22.32
27.00,20.00,22.68,21.96
27.00,20.00,22.50,20.88
27.00,20.00,22.50,22.14
27.00,20.00,21.96,21.60
27.00,20.00,21.78,22.86
27.00,20.00,21.24,21.42
27.00,20.00,21.60,21.24
27.00,20.00,21.24,20.52
27.00,20.00,20.88,20.52
27.00,20.00,20.88,22.14
27.00,20.00,20.88,20.34
27.00,20.00,20.52,21.42
27.00,20.00,20.70,20.88
27.00,20.00,20.70,20.34
27.00,20.00,20.88,20.16
27.00,20.00,21.24,19.98
27.00,20.00,21.06,20.16
27.00,20.00,21.60,19.80
27.00,20.00,21.60,21.06
27.00,20.00,21.96,21.60
27.00,20.00,22.14,21.42
27.00,20.00,22.32,21.60
27.00,20.00,22.68,21.60
27.00,20.00,22.86,22.32
27.00,20.00,22.86,23.04
27.00,20.00,23.22,23.40
27.00,20.00,23.22,23.22
27.00,20.00,23.22,24.66
27.00,20.00,23.22,24.12
27.00,20.00,23.22,23.58
27.00,20.00,23.04,24.30
27.00,20.00,23.22,24.84
27.00,20.00,23.22,24.48
27.00,20.00,23.58,25.38
27.00,20.00,23.58,25.74
27.00,20.00,23.58,26.46
27.00,20.00,23.76,25.56
27.00,20.00,24.12,26.28
27.00,20.00,24.12,26.46
27.00,20.00,23.76,26.82
27.00,20.00,23.94,26.46
27.00,20.00,24.12,26.64
27.00,20.00,24.12,26.64
27.00,20.00,24.30,27.54
27.00,20.00,24.12,27.00
27.00,20.00,24.12,27.00
27.00,20.00,24.48,27.00
27.00,20.00,23.94,26.46
27.00,20.00,23.94,27.36
27.00,20.00,23.94,27.36
27.00,20.00,24.30,27.54
27.00,20.00,24.12,27.72
27.00,20.00,24.12,27.18
27.00,20.00,23.94,27.90
27.00,20.00,23.76,27.72
27.00,20.00,23.76,26.46
27.00,20.00,23.76,26.82
27.00,20.00,23.58,27.72
27.00,20.00,23.40,26.82
27.00,20.00,23.22,26.64
27.00,20.00,23.76,26.46
27.00,20.00,23.76,26.28
27.00,20.00,23.94,26.46
27.00,20.00,23.22,27.90
27.00,20.00,23.76,26.10
27.00,20.00,23.58,26.82
27.00,20.00,23.76,26.64
27.00,20.00,23.94,26.28
27.00,20.00,23.94,26.82
27.00,20.00,24.30,26.46
27.00,20.00,24.48,26.46
27.00,20.00,25.02,26.28
27.00,20.00,24.84,27.18
27.00,20.00,24.84,27.18

StefanL38 · January 29, 2022, 1:05pm

The verbal description does help alittle. The numbers do not help.
Especially as you did not write your interpretation of the numbers.

I have a question that in my opinion is

very important to answer

did you follow the adjustement strategy described in post
#6

I hope you don't get overwhelmed by a quick "YES I did this adjustement-strategy"
or
to write a "no I did not do this adjustement-strategy".

What would be really helping is recording a video of your system in action and to upload this video to youtube.

A second way would be to write the deviation from the centerpoint of the ball and the values how much counteracting your system is doing trying to stabilise the ball in the centerpoint.
This serial otput should have short titles so it will be easy to understand which number means what. At 1MBaud transferring 50 bytes needs 50 * 10 bits / 1000000 bits per second = 0,0005 seconds = 0,5 milliseconds

best regards Stefan

dlloyd · January 29, 2022, 7:23pm

I took your data and and parsed it here using template {rn},{f1},{f3}{br} for your XActual and template {rn},{f2},{f4}{br} for your YActual.

Here's the plots using pidtuner.com:

XActual (amplitude never reaches your setpoint of 27) ...

YActual (average amplitude is above your setpoint of 20) ...

StefanL38 · January 29, 2022, 7:42pm

From the curves posted by dlloyd : Are you sure that your setpoint is a stable position?
Without knowing how your device looks like mechanically I can only speculate what the error might be.

post a picture of the mechanic of your device. This will help a lot to understand it.

best regards Stefan

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PID parameters tuning for a ball on plate system

very important to answer

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