Comments (7)
pidtuner
commented on July 17, 2024
1
Hi,
Thank you. Well the tool is mainly focused on tuning an ideal continuous PID. So in a sense is independent of the discrete PID implementation (position or velocity). Actually the biggest contribution of the tool is the identification part, because once you have the plant parameters you can apply any PID tuning rule you want that matches better your PID implementation.
The gains obtained by the tool should give you a good starting point regardless of your PID discrete implementation. From there you can just fine tune online if possible.
Feel free to post some result images or data here if the PID gains from this tool do not work for your PID.
from pidtuner.github.io.
edgsc
commented on July 17, 2024
Thanks for your reply.
With suggested PID-Tuner parameters:
Kp: 866
Ki: 4365
Kd = 0
I get the following oscillatory control, +-0.2ºC from setpoint:
With Kp = 419, Ki = 26, Kd = 1688, oscillation is around 4x lower (+-0.05ºC):
It's implemented on an Arduino; Bret Beauregard's PID code, which is an ISA Ideal PID algorithm.
The last parameters were calculated with his autotune code (Astrom's Relay Method; Ziegler Nichol's PID tuning), Ku = 698,46; Pu = 32,24).
I wonder why so different results and if it wasn't Velocity Algorithm the cause and thought if it's because Veloc. calculates how much the output should be changed (based on last output), while Position form already calculates the output.
from pidtuner.github.io.
pidtuner
commented on July 17, 2024
Mmm... those are some interesting results. Would you mind posting your step response data to check the identified model? For reference, the tuning gains given by the tool are the ones from Sigurd Skogestad
from pidtuner.github.io.
edgsc
commented on July 17, 2024
Mmm... those are some interesting results. Would you mind posting your step response data to check the identified model? For reference, the tuning gains given by the tool are the ones from Sigurd Skogestad
I couldn't find the original used, but here's another set of input & output used with similar results.
0.1 0 27.12
0.11 0 27.12
0.12 0 27.12
0.14 0 27.12
0.15 0 27.12
0.16 0 27.12
0.18 0 27.12
0.19 234.6 27.12
0.21 234.6 27.12
0.22 234.6 27.19
0.24 234.6 27.31
0.25 234.6 27.37
0.27 234.6 27.44
0.28 234.6 27.56
0.3 234.6 27.62
0.31 234.6 27.75
0.33 234.6 27.87
0.34 234.6 27.94
0.36 234.6 28.06
0.37 234.6 28.12
0.39 234.6 28.25
0.41 234.6 28.31
0.42 234.6 28.37
0.44 234.6 28.5
0.45 234.6 28.56
0.47 234.6 28.69
0.48 234.6 28.75
0.5 234.6 28.81
0.51 234.6 28.94
0.53 234.6 29
0.54 234.6 29.06
0.56 234.6 29.12
0.58 234.6 29.25
0.59 234.6 29.31
0.61 234.6 29.37
0.62 234.6 29.44
0.64 234.6 29.56
0.66 234.6 29.62
0.67 234.6 29.69
0.69 234.6 29.75
0.71 234.6 29.81
0.72 234.6 29.87
0.74 234.6 29.94
0.75 234.6 30
0.77 234.6 30.06
0.79 234.6 30.12
0.8 234.6 30.25
0.82 234.6 30.25
0.83 234.6 30.37
0.85 234.6 30.44
0.87 234.6 30.5
0.88 234.6 30.56
0.9 234.6 30.56
0.92 234.6 30.62
0.93 234.6 30.69
0.95 234.6 30.75
0.96 234.6 30.81
0.98 234.6 30.87
1 234.6 30.94
1.01 234.6 31
1.03 234.6 31
1.04 234.6 31.06
1.06 234.6 31.12
1.08 234.6 31.19
1.09 234.6 31.19
1.11 234.6 31.25
1.13 234.6 31.31
1.14 234.6 31.37
1.16 234.6 31.37
1.18 234.6 31.44
1.2 234.6 31.5
1.21 234.6 31.56
1.23 234.6 31.56
1.25 234.6 31.62
1.27 234.6 31.69
1.28 234.6 31.69
1.3 234.6 31.75
1.32 234.6 31.81
1.34 234.6 31.81
1.35 234.6 31.87
1.37 234.6 31.94
1.39 234.6 32
1.41 234.6 32
1.42 234.6 32.06
1.44 234.6 32.06
1.46 234.6 32.13
1.48 234.6 32.19
1.49 234.6 32.19
1.51 234.6 32.25
1.53 234.6 32.25
1.55 234.6 32.31
1.56 234.6 32.31
1.58 234.6 32.38
1.6 234.6 32.44
1.62 234.6 32.44
1.63 234.6 32.5
1.65 234.6 32.5
1.67 234.6 32.56
1.69 234.6 32.56
1.7 234.6 32.63
1.72 234.6 32.63
1.74 234.6 32.63
1.76 234.6 32.69
1.77 234.6 32.69
1.79 234.6 32.75
1.81 234.6 32.75
1.83 234.6 32.81
1.84 234.6 32.81
1.86 234.6 32.88
1.88 234.6 32.88
1.9 234.6 32.88
1.91 234.6 32.94
1.93 234.6 32.94
1.95 234.6 32.94
1.97 234.6 33
1.98 234.6 33
2 234.6 33.06
2.02 234.6 33.06
2.04 234.6 33.13
2.05 234.6 33.13
2.07 234.6 33.13
2.09 234.6 33.19
2.11 234.6 33.19
2.12 234.6 33.19
2.14 234.6 33.25
2.16 234.6 33.25
2.18 234.6 33.25
2.19 234.6 33.31
2.21 234.6 33.31
2.23 234.6 33.38
2.25 234.6 33.38
2.27 234.6 33.38
2.29 234.6 33.44
2.31 234.6 33.44
2.33 234.6 33.44
2.35 234.6 33.5
2.37 234.6 33.5
2.39 234.6 33.56
2.4 234.6 33.56
2.42 234.6 33.56
2.44 234.6 33.63
2.46 234.6 33.63
2.48 234.6 33.63
2.5 234.6 33.69
2.52 234.6 33.69
2.54 234.6 33.69
2.56 234.6 33.69
2.58 234.6 33.75
2.6 234.6 33.75
2.62 234.6 33.75
2.64 234.6 33.81
2.66 234.6 33.81
2.68 234.6 33.81
2.7 234.6 33.88
2.72 234.6 33.88
2.74 234.6 33.88
2.76 234.6 33.88
2.78 234.6 33.94
2.8 234.6 33.94
2.82 234.6 33.94
2.83 234.6 34
2.85 234.6 34
2.87 234.6 34
2.89 234.6 34
2.91 234.6 34
2.93 234.6 34.06
2.95 234.6 34.06
2.97 234.6 34.06
2.99 234.6 34.06
3.01 234.6 34.13
3.03 234.6 34.13
3.05 234.6 34.13
3.07 234.6 34.13
3.09 234.6 34.19
3.11 234.6 34.19
3.13 234.6 34.19
3.15 234.6 34.19
3.17 234.6 34.19
3.19 234.6 34.19
3.21 234.6 34.25
3.23 234.6 34.25
3.25 234.6 34.25
3.27 234.6 34.25
3.28 234.6 34.25
3.3 234.6 34.31
3.32 234.6 34.31
3.34 234.6 34.31
3.36 234.6 34.31
3.38 234.6 34.38
3.4 234.6 34.38
3.42 234.6 34.38
3.44 234.6 34.38
3.46 234.6 34.38
3.48 234.6 34.38
3.5 234.6 34.44
3.52 234.6 34.44
3.54 234.6 34.44
3.56 234.6 34.44
3.58 234.6 34.44
3.6 234.6 34.5
3.62 234.6 34.5
3.64 234.6 34.5
3.66 234.6 34.5
3.68 234.6 34.5
3.7 234.6 34.56
3.72 234.6 34.56
3.73 234.6 34.56
3.75 234.6 34.56
3.77 234.6 34.56
3.79 234.6 34.56
3.81 234.6 34.56
3.83 234.6 34.56
3.85 234.6 34.56
3.87 234.6 34.56
3.89 234.6 34.56
3.91 234.6 34.56
3.93 234.6 34.56
3.95 234.6 34.56
3.97 234.6 34.56
3.99 234.6 34.63
4.01 234.6 34.63
4.03 234.6 34.63
4.05 234.6 34.63
4.07 234.6 34.63
4.09 234.6 34.63
4.11 234.6 34.69
4.13 234.6 34.69
4.15 234.6 34.69
4.17 234.6 34.69
4.18 234.6 34.69
4.2 234.6 34.69
4.22 234.6 34.69
4.24 234.6 34.69
4.26 234.6 34.69
4.28 234.6 34.69
4.3 234.6 34.75
4.32 234.6 34.75
4.34 234.6 34.75
4.36 234.6 34.75
4.38 234.6 34.75
4.4 234.6 34.75
4.42 234.6 34.75
4.44 234.6 34.75
4.46 234.6 34.75
4.48 234.6 34.75
4.5 234.6 34.75
4.52 234.6 34.75
4.55 234.6 34.81
4.57 234.6 34.81
4.59 234.6 34.81
4.61 234.6 34.81
4.63 234.6 34.81
4.66 234.6 34.81
4.68 234.6 34.81
4.7 234.6 34.81
4.72 234.6 34.81
4.74 234.6 34.88
4.77 234.6 34.88
4.79 234.6 34.88
4.81 234.6 34.88
4.83 234.6 34.88
4.85 234.6 34.88
4.88 234.6 34.81
4.9 234.6 34.81
4.92 234.6 34.81
4.94 234.6 34.81
4.96 234.6 34.81
4.99 234.6 34.88
5.01 234.6 34.88
5.03 234.6 34.88
5.05 234.6 34.88
5.07 234.6 34.88
5.09 234.6 34.88
5.12 234.6 34.88
5.14 234.6 34.88
5.16 234.6 34.88
5.18 234.6 34.88
5.2 234.6 34.88
5.23 234.6 34.94
5.25 234.6 34.94
5.27 234.6 34.94
5.29 234.6 34.94
5.31 234.6 34.94
5.34 234.6 34.94
5.36 234.6 34.88
5.38 234.6 34.94
5.4 234.6 34.94
5.42 234.6 34.94
5.45 234.6 34.94
5.47 234.6 34.94
5.49 234.6 34.94
5.51 234.6 34.94
5.53 234.6 34.94
5.56 234.6 34.94
5.58 234.6 34.94
5.6 234.6 34.94
5.62 234.6 34.94
5.64 234.6 34.94
5.67 234.6 34.94
5.69 234.6 34.94
5.71 234.6 34.94
5.73 234.6 34.94
5.75 234.6 35
5.78 234.6 35
5.8 234.6 35
5.82 234.6 35
5.84 234.6 35
5.86 234.6 35
5.88 234.6 35
5.91 234.6 35
5.93 234.6 35
5.95 234.6 35
5.97 234.6 35
5.99 234.6 35
6.02 234.6 35
6.04 234.6 35
6.06 234.6 35
6.08 234.6 35
6.1 234.6 35
6.13 234.6 35
6.15 234.6 35
6.17 234.6 35
6.19 234.6 35
6.21 234.6 35
6.24 234.6 35.06
6.26 234.6 35.06
6.28 234.6 35.06
6.3 234.6 35.06
6.32 234.6 35.06
6.35 234.6 35.06
6.37 234.6 35.06
6.39 234.6 35.06
6.41 234.6 35.06
6.43 234.6 35.06
6.46 234.6 35.06
6.48 234.6 35.06
6.5 234.6 35.06
6.52 234.6 35.06
6.54 234.6 35.06
6.56 234.6 35.06
6.59 234.6 35.06
6.61 234.6 35.06
6.63 234.6 35.13
6.65 234.6 35.06
6.67 234.6 35.06
6.7 234.6 35.06
6.72 234.6 35.13
6.74 234.6 35.13
6.76 234.6 35.13
6.78 234.6 35.13
6.81 234.6 35.13
6.83 234.6 35.13
6.85 234.6 35.13
6.87 234.6 35.13
6.89 234.6 35.13
6.92 234.6 35.13
6.94 234.6 35.13
6.96 234.6 35.13
6.98 234.6 35.13
7 234.6 35.13
7.03 234.6 35.13
7.05 234.6 35.13
7.07 234.6 35.13
7.09 234.6 35.13
7.11 234.6 35.13
7.14 234.6 35.13
7.16 234.6 35.06
7.18 234.6 35.13
7.2 234.6 35.13
7.22 234.6 35.13
7.25 234.6 35.13
7.27 234.6 35.13
7.29 234.6 35.13
7.31 234.6 35.13
7.33 234.6 35.13
7.36 234.6 35.13
7.38 234.6 35.13
7.4 234.6 35.13
7.42 234.6 35.13
7.44 234.6 35.13
7.46 234.6 35.13
7.49 234.6 35.13
7.51 234.6 35.13
7.53 234.6 35.13
7.55 234.6 35.13
7.57 234.6 35.13
7.6 234.6 35.13
7.62 234.6 35.13
7.64 234.6 35.13
7.66 234.6 35.13
7.68 234.6 35.13
7.71 234.6 35.13
7.73 234.6 35.13
7.75 234.6 35.13
7.77 234.6 35.13
7.79 234.6 35.13
7.82 234.6 35.13
7.84 234.6 35.13
7.86 234.6 35.13
7.88 234.6 35.06
7.9 234.6 35.06
7.93 234.6 35.06
7.95 234.6 35.06
7.97 234.6 35.06
7.99 234.6 35.06
8.01 234.6 35.06
8.04 234.6 35.06
8.06 234.6 35.06
8.08 234.6 35.06
8.1 234.6 35.06
8.12 234.6 35.06
8.14 234.6 35.06
8.17 234.6 35.06
8.19 234.6 35.06
8.21 234.6 35.06
8.23 234.6 35.06
8.25 234.6 35.06
8.28 234.6 35.06
8.3 234.6 35.06
8.32 234.6 35.06
8.34 234.6 35.06
8.36 234.6 35.06
8.39 234.6 35.06
8.41 234.6 35.06
8.43 234.6 35.06
8.45 234.6 35.06
8.47 234.6 35.06
8.5 234.6 35.06
8.52 234.6 35.06
8.54 234.6 35.06
8.56 234.6 35.06
8.58 234.6 35.13
8.61 234.6 35.06
8.63 234.6 35.13
8.65 234.6 35.13
8.67 234.6 35.06
8.69 234.6 35.06
8.71 234.6 35.06
8.74 234.6 35.06
8.76 234.6 35.06
8.78 234.6 35.06
8.8 234.6 35.06
8.82 234.6 35.06
8.85 234.6 35.06
8.87 234.6 35
8.89 234.6 35.06
8.91 234.6 35.06
8.93 234.6 35.06
8.96 234.6 35.06
8.98 234.6 35.06
9.01 234.6 35.06
9.03 234.6 35.06
9.06 234.6 35.06
9.08 234.6 35.06
9.11 234.6 35
9.13 234.6 35.06
9.16 234.6 35.06
9.18 234.6 35
9.21 234.6 35
9.23 234.6 35
9.26 234.6 35
9.28 234.6 35.06
9.31 234.6 35.06
9.33 234.6 35.06
9.36 234.6 35.06
9.38 234.6 35.06
9.41 234.6 35.06
9.43 234.6 35.06
9.46 234.6 35.06
9.48 234.6 35.06
9.51 234.6 35.06
9.53 234.6 35.06
9.55 234.6 35.06
9.58 234.6 35.06
9.6 234.6 35.06
9.63 234.6 35.06
9.65 234.6 35.13
9.68 234.6 35.13
9.7 234.6 35.13
9.73 234.6 35.13
9.75 234.6 35.13
9.78 234.6 35.13
9.8 234.6 35.13
9.83 234.6 35.13
9.85 234.6 35.13
9.88 234.6 35.13
9.9 234.6 35.13
9.93 234.6 35.13
9.95 234.6 35.13
9.98 234.6 35.13
10 234.6 35.13
And now how it performs: temperature oscillates between 29,95ºC to 30,25ºC.
Kp: 961
Ki: 5950
Kd: 0
Again, for comparison, with Kp = 419, Ki = 26, Kd = 1688, oscillation is around 4x lower (+-0.05ºC):
from pidtuner.github.io.
edgsc
commented on July 17, 2024
I discovered my mistake. I was using different time units to get the parameters Kp, Ki, Kd.
I changed PID Tuner's input from minutes to seconds and the results were closer do Brett's PID Autotune.
from pidtuner.github.io.
pidtuner
commented on July 17, 2024
Sorry I was on holidays. Good to hear you found the issue. I was going to ask if your PID has rate limits implemented? Because the simulation shows that for a step change, the PID will give a strong kick as a response, but the rate limits help with this.
from pidtuner.github.io.
pidtuner
commented on July 17, 2024
Closing due to inactivity. Please re-open if issue persist.
from pidtuner.github.io.
Related Issues (15)
- Can't change Selected Time Range HOT 2
- Make clearer how one updates the graph after changing a gain value HOT 1
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- PID Tuner could not find any steps in the data HOT 1
- Question about sys id and documentation HOT 4
- forum registration fails HOT 2
- Where is the math? HOT 9
- support PX4 autopilot flight logs HOT 5
- support Cleanflight/Betaflight/INAV logs HOT 39
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