PID controller Simple explanation with a Quadcopter as example.
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- Опубліковано 27 сер 2024
- This video is about a pid controller with a practical example. You will briefly know what a pid controller is and understand the variation of gains in pid loop.
Please leave any suggestions in comments.
Resources:
For esp32 flight controller and WiFi pid tuning code.
Esp32 GitHub repository: github.com/pra...
References:
Joop Brooking - • YMFC-3D part 5 - Quadc...
Manoj Konar - / @pixstrome8735 , / manoj-konar-159212192
Honestly speaking brother I am studying Aerospace Engineering in one of the best universities in the world rn and even proffs here don't explain half as good as you did.... Massive respect
Thank you for your kind words, I appreciate it!
Such a beautiful explanation to to let everyone understand flying mechanics in physical space
Thank you so much!
Sir you have explained this very well . Keep it up
Thank you brother!!
Best demo I’ve seen, thank you!
Thank you so much!
😊waiting for next video
Sure! This week!
Thank you for this nice explanation with real world example. Very cool.
Thank you so much!!!
Good Job. You can also use the Ziegler-Nichols method to calculate the coefficients for I and D. It was developed by John G. Ziegler and Nathaniel B. Nichols. The method presented here uses the generation of continuous oscillation in a closed loop.
Yes sir I agree, I wanted to mention this method. It is being used in the pixhawk flight controllers. Thank you for sharing your input, glad!
Very nice lesson you should teach class pid controllers are used in many things aswell. Also wear a glove while doing this testing your a pilot don’t hurt your hands
Yes they are! You are right safety is top priority!
Nice Explanation bro try to increase volume for your new videos
Yes you’re correct, I noticed it. I’ll keep this in mind for the next videos. Thank you for pointing it out.
@@pratikphadte it's ok bro all the best
Subscribed, thats awsome bro. We buy flight controller and use some presets; but you build it yourself 😁 you are amazing.
Thank you for your comment, made my day! 💪
Nice work, I also worked on flight controller development long ago....
Thank you, nice to meet you!
as always video is just great and very informative
i like your work and salute you for all the hardwork you do for a single video
🫡
@@nightshowdown4178 thank you for subscribing and supporting! Thank you so much!!
@@pratikphadte hey just wanted to give you suggestion
would it be better if you upload code explanation series like carbon aeronautics or joop brokking that what you entire code is doing and how an individual can make it ?
just a suggestion hehe🙂
@@nightshowdown4178 ill take up on it, but the thing is Carbon Aeronatics and joop have already done a god jobs, to recreate it, it seems like a re work. But never the less, ill try making. I have some more good stuff coming UP. I really appreciate your suggestion and advice, thank you so much for supporting!
Great explanation sir.!
Thank you brother!
Nice video bro very informative
Thank you bro ♥️
Nice work. this is helpful. Im still working with a bread board on my esp32s3, i glued it to my prototype 3d print drone.
I had this idea of using airflow sensors to maybe add another layer of stability or accuracy. Maybe you find this idea interesting.
Im still waiting on step up voltage converter.
Way to go man! Excited to hear your ideas, would love to see your progress, subscribing to you right away!
@@pratikphadte dude. Is that a linux computer
Yes! It is, helps with ros2
Nice PID demo, will check your GH, liked & subscribed .
Thank you so much!
Nyce
Thanks
Bro this was in in my recommendations.
Drone man vodlo zhalo
My man Sasmeet! Thank you!
I think I should be zero here. The angle is already an integration and the rotation speed of the motors also change slowly, I mean when you have a new controller output, the motor speed is still the same and needs time to change, almost like another integration. So it is not good to add even more I in the controller. You could also try to use 2 control loops. So the inner loop is the pitch RATE controlled by an PID controller that gets the target pitch rate from the outer loop, that is also an PID control loop. The outer loop should have I gain = 0. The first step of tuning is that the inner loop only so the copter can rotate at a rate that you want. If that works, add the outer loop. The horizontal bar is also an issue as others already commented. I'd suggest to use a thread that is connected so it fits the center of gravity. A thread will have almost no friction but limited number of rotations. So I'd keep the horizontal bar until the control works good enough so that the number of rotations is not an issue anymore.
Thank you for your reply, however I could grasp it not so well, if possible can you share me some resources I can follow, especially the dual loop part. And yes you are right about the rod, i made this video for people to understand and learn about a pid controller and not specifically about the drone. You are right the values will change when I fly the quadcopter independently. I hope my answer makes sense.
@@pratikphadte I'm not sure if I can post a link as yt sometimes blocks the comment, but the term to search is
mathworks cascade control loop
for example.
Removing the integral gain for this specific constrained system may work due to a lack of external perturbations, but will not work in-flight. The "I" gain helps mitigate lots of external factors such as mass imbalance, wind gusts etc. A quick check is to see what happens if you put the battery to one side of the frame instead of the center with no integral gain. From experience I can tell you that your vehicle will (in this constrained setup) stabilize at a non-zero roll angle. In-flight this would mean your vehicle will stabilize with a coupled roll-pitch tilt and fly off into the sunset. ;))
Furthermore, two control loops generally make sense when you have time-scale separation, e.g rotational and translational dynamics where rotational dynamics are much quicker than translational. Then you could have one loop for stabilization (rotational dynamics) as you have now which operates at relatively higher sampling rates, and another one for navigation/guidance/waypoints (translational kinematics/dynamics) which operates at lower sampling rates, typically a difference of 10x. Then you could have the outer loop (slower) command attitudes from the inner loop (faster) for translational motion.
@pratikphadte, loved the work. I did something similar on an Arduino Mega last summer. Worked out for a bit, but as you may have figured out from your own experience, quick and responsive PID control and stabilization across the normal flight envelope is not something that boards like an Arduino or an ESP32 handle well with their relatively massive overhead. Switched to an APM 2.8 and later to a Pixhawk 2.4.8, couldn't be happier today with all the flying that I do and the additional functionalities they offer. Good luck and happy flying!
@10:42 the center of gravity in this case is not aligned with the frictionless horizontal bar, this doesn't represent the actual calibration. Your ideal axis of swivel must change to probably adding a vertical frictionless bar that is collocated with frictionless horizontal for a valid calibration. Alternatively, you may need to figure out where exactly the COG located and hang the drone right on that COG point.
Yes you are correct, I made this video for people to understand learn about a pid controller and not specifically about the drone. You are right the values will change when I fly the quadcopter independently. I hope my answer makes sense.
Well explained keep it up! 😁 That's me! 5:16!
Thank you Manoj for the idea on the stand! Glad to have connected with you! The stm32 quadcopter is crazily stable!
Great bro!
Thank you bro!
Impressive as always, bruhhh ❤
Thank you bro!♥️
Nice
Thank you!
Is that ur mic or ur voice is already awesome?
Little bit of both i would say, Thank you so much, made my day! 😊
@11:00 when the drone flies in the air it will have completely different COG location point. This is due to the fact that the parts are not distributed perfectly symmetrical relative to the center.
Yes you are correct, I made this video for people to understand learn about a pid controller and not specifically about the drone. You are right the values will change when I fly the quadcopter independently. I hope my answer makes sense.
you should consider that you wil not use the connection part during real flying, so you need to compensate the PID values for real weight and geometry.
Yes I agree, again this video is to demonstrate the PID controller and not to be referred completely as a guide to tune your quadcopter.
I understand PID, one of the best video but I am still not able to find out why drone oscillate even if you are not giving any command. What phenomenon is it?
Thank you for your kinds words, can you please mention the timestamp? If you are talking about the very high oscillations, it’s because of the overshoot in the p controller.
Nice test, any custom PCBs/3DP can help? (PCBWay zoey)
Thank you, yes I’ll approach if required!
@@pratikphadte NO problem, you are welcomed. And you can find my contact in channel info.
I did, super thanks!
Hi brother
Its good to see these kind of videos and leant too many things from you ..
And brother do you know about autonomous drones like . Pixhawk + rpi and ai stuffs ?
Like.. purpose is human tracking or
Kind of like that and crop management and more ?
I am trying to build this for college project brother
I will contact you on LinkedIn brother its easy to discuss there
Hello bro, I’m excited to hear about your ideas, you should just dive in them. I appreciate you asking me for advice, I want to help you and I get many messages asking me for help! But I’m occupied by my work and as a creator time is super valuable, I would be able to help you better if you take up my Patreon as that supports me. Thank you for understanding, no hard feelings.
Well done. Where do you get these drone parts from India?
Thanks, you can check at robu.in
see how your drone is stable almost stable at p =1 and rest values zero . But my drone is free falling have tried different values of p. Also my circuit is connected using jumper wire not pcb/gbp.
Hello, the results will vary as this is done on a stand, and the system is different from an independent quadcopter , I suggest you to follow a p value of 0.7 and d value of 0.008, I you can keep 0
@@pratikphadte see in my drone correction are happening but in your case the drone is in center stable that is not happening
Bro i tried to blow away the ant 0:56
😂😂😂 right on
do ready-made flight controller give direct pid value
The pid values are kind of related to the drone system so ideally it’s never the case but fast fc like thee speedybee have a good processing speed and that makes their pid values workable for a broader bandwidth of Systems, they may give the most perfect result but it’s almost satisfactory.
Hello, I followed your instructions, but I couldn't find your webserver to customize the PID. Could you share the address of that webserver with me?
Hello, please follow the WiFi tuning video, in that I have mentioned how to get the ip address of the esp32.
@@pratikphadte I figured it out! Thank you so much, and I hope to see more videos about quadcopters from your channel in the future.
is the code working properly and making the drone stable
just get a apm 2.8 and leave the calculation at home and fly around!
The purpose was to explain pid and I didn’t have an apm 😅
And they say you don't need maths in CS
CS is the language, math is the song 😅
@@pratikphadte Were you trying to say the other way around.
@@ckush928 nope 😊
Hello Pratik, I build a mini drone based on esp32 all works fine but there is one issue while uploading the code or pressed reset button the motors get starts automatically until uploading gets finished, I already set these pins to 0 in setup section, then what might be the error causing it... ?????
Is that a custom FC board you made for esp32 ?
Yes!
@@pratikphadte Thank you for good video. Can you give some guides or resources which we can use to make ESP32 drones?
@@nikitam4677 thank you so much!, please check my diy esp32 playlist for esp32 drone.
How did you get all this info ?? Even I need to learn all this in detail
Follow the resources in my other videos. Joop Brokking and carbon aeronautics are the best out there.
Actually flying pid use please
I have showed one in my pid WiFi tuning video, check that one, also there is a small 2 min video showing the flight, you may check that as well.
do we get same pid value from the same drone but from diferrent flight controller
No it depends, if the fc has good clock freq then for better working I can select a lower time cycle which can sort of give me pid values which will be different Than the esp32 pid values
@@pratikphadtewould it be same for arduino uno and amp2.8 as they both have 16M hz , will it be same?? . Because i am trying pid tuning but facing problems using the arduino .
Can’t say for sure but yes
@@pratikphadte bro have you done this thing on arduino
No I haven’t, you can check joop brokking for Arduino fc
English is a weird language. German accent can be funny but such English remains fully understandable. Finnish accent is weird but even such English remains fully understandable. However, under Indian accents English will fully loose its clarity. There are so many nice videos on the Internet which remain tolerable just on the condition you switch the sound off and read the subtitles.
Are you goan ? 🙋🏻
Hoi bro, Kide mhanta? Ghat?
Ghat! Just discovered pid controllers and found u, vids powerful asa, really helpful. Good to see u use linux. Is it always the case ?
@@TanmayGaude23e4 thanks bhava, no Linux is not necessary, just better for Ros
I from mechanical engineering,I want to learn more about Robotics,can you suggest me how to go about it,I am from Goa
@@beastlyy858 yeah please refer articulated robotics for mainstream robotics.
bro make PID video in hindi
My audience is very niche I feel that’s why I make videos in English, but yes I can work on that idea. Thanks
Idk i am trying to make the TVC mount for a model rocket but it just doesn't want to work ig , and idk if i am wrong with the math or with the programming 🫠
You’ll get it working! Keep up the work!