DC motor PID speed control

GitHub Code (under /SpeedControl):
github.com/curiores/ArduinoTu...
If your platform does not have access to "atomic.h" (and so you get an error message), you can use the alternative version of the code that has been uploaded to the repository. It is labeled "_NoAtomic".
Learn how to control the speed of a DC motor with an encoder using a PID controller. In this video, I walk you through several important steps in this process:
0. Hardware
1. Velocity measurements
2. Measurement filtering
3. PI control
4. Variations
For more information about how an encoder works, see our video "How to control a DC motor with an encoder."
• How to control a DC mo...
To learn about low-pass filtering, see our video "How to design and implement a digital low-pass filter on an Arduino."
• How to design and impl...
Parts used in this video:
1. DC Motor - 19:1 Metal Gearmotor 37Dx68L mm 12V with 64 CPR Encoder:
www.pololu.com/product/4751
2. Motor Driver - VNH5019 Motor Driver Carrier:
www.pololu.com/product/1451
3. Microcontroller - Arduino Uno:
store.arduino.cc/usa/arduino-...

[@usnaveen]

Just can't believe that this high quality content is available for free. God bless you.

[@pavelmihai6850]

I'm studying engineer for 3 years and your videos are pure gold, thank you very much!

[@curiores111]

Thank you Pavel - and good luck with your studies!

[@DavidTLutz]

Excellent series of videos on dc motors and how to control them. Thank you for not shying away from a bit of theory and mathematics. I find it very 'digestible' and inspires deeper thinking through thorough study of the material you provide. You present a clear expression of your obvious command of the topic. Plus your voice is very pleasant to listen to. Keep up the good work.

[@davidjmstewart]

This is a very high quality piece of content. It is much harder to edit this type of video rather than doing a simple screen share and writing the code, but I think it has paid off. Big fan of showing the iterative procedure of proportional controller, what its limitations are, and moving to the PI controller. I hope you find the time to keep making videos like this.

[@luiggitello8546]

Im doing this exact experiment but with state space. Can’t believe i just found your channel, loved your video

[@KirtikSoni]

Excellent Video! The step-by-step approach coupled with the fluid animations and an amazingly soothing voice made this video an absolute treat watch and learn! Thanks!

[@alperenkeser]

Thank you very much. Your way of explaining things are much better than the most professors in my university.

[@johns1988]

I agree with all of these reviews, this is quality information presented extremely well. Great job and thumbs up! Plus, your voice in these videos is so relaxing to listen to it almost puts me in a trance... Thank you so much for such a clear explanation of all of your topics, and please keep them coming 🙂

[@Noxafurry]

The channel is brilliant indeed! The last part of the video blew my mind because it is so rare to see similar approach to learning and experimentation! Thank you.

[@curiores111]

Well thank you Noxafurry. That's very kind :)

[@manuel56354]

This may well be one of the most clearly explained videos on KZbin. I'm amazed.

[@curiores111]

Thanks so much Manuel. My main goal with this one was to explain all the details carefully. You basically have to understand how it works to have any hope of getting a decent response.

[@austin-bowen]

This was exactly the video I needed to remind myself how to build good speed control, thank you!

[@avi-brown]

Hands down best Arduino-related video I've ever seen. Great quality, in-depth explanations, just excellent.

[@curiores111]

You are too kind, thank you

[@DustanWebb]

I'm really enjoying these videos. So clearly explained and easy to follow especially for an unskilled programmer like myself

[@curiores111]

Thanks Dustan! I find that arduino/this type of application is a great way to get better and more interested in programming, without an awful slog through a C++ class.

[@lautamn9096]

If someone wants to know or is interested: there are graphic methods to get the ki, ke and even the kd constants. Amazing vid, cheers.

[@luccarodrigues781]

Awesome explanation, this is exactly what I subbed for! And those nice graphics are the icing on the cake. Thanks for sharing!

[@curiores111]

Thanks for the kind words and for stopping by Lucca 😊

[@jokoluna6978]

Thank you so much for this inspiring video! Finally seeing someone implementing PID control after visiting control engineering class and not seeing any practical examples warms my engineering heart ;D I don't have a motor+encoder flying around, but an led and light sensitive resistor. I guess pid brightness control is now a thing for me. I added a none feedback path to the feedback loop, to make the system more reactive/less prone to oscillating. I add u to a value x that is dependent on my target value. The relationship between the target and x is not perfect, but now the control loop only needs to compensate for the remaining deviation. Not useful in every situation, but worth it in some.

[@HSMAdvisor]

I am building an arduino controller for a 4hp dc motor and this video is invaluable!

[@samuelbentz]

This video was just what I was looking for and you explained everything so well. Thank you so much!

[@matheuswilgengoncalves]

Amazing explanation, thank you! I liked how you compare the methods.

[@curiores111]

Glad to hear that 😄

[@markusbuchholz3518]

From my humble point of view, your channel is brilliant and remarkable. Content very consistent with practical examples and perfectly done. We have to appreciate also you effort in preparation content. Your channel will grow. I keep finger for your goals!

[@curiores111]

Thank you Markus, you are too kind 😊.

[@tarksev3273]

@@curiores111 hello, I will design the simulink according to the label movement of the information coming from the video controlled with 3 motors, of course, first of all, it will get information from gprs, monitor the coordinates with the satellite camera, track the moving objects and turn in that direction in the motors.which type of block can we use in simulink

[@ambastaaashishkumarsanjayk2729]

@@curiores111 hey can you help me with implementing this project

[@udayaadasooriya8290]

Qjwwwww

[@lightman500]

Great Job! Terrific tutorial....easy to follow with great visual aids. Your logic flow is spot on as you develop the code....thanks for the tremendous job!

[@willyouwright]

Literally one of the best videos Ive ever seen.. !! excellent explanation . the animations are really easy to understand... and the flow is great too..

[@curiores111]

You are too kind Will, thank you

[@attaponcharoenpon1890]

Clearly explanation of how to control motor with pid. Thank for this tutorial. I'm looking for next video

[@nadirsert]

thanks for your video you saved my time. I am trying to controll a blcd motor but have diffuculties about low speed rpm control and your low-pass filter solved my problem.

[@nadirsert8235]

thanks for video series. this is the 3th time i am watching. They are full of information.

[@djredrover]

I freaking LOVE your channel. Your videos are well thought-out, useful and informative. Please keep them coming.

[@curiores111]

Thank you (...not sure how to read your name... let's say..) DJ Drover! ;) I've been struggling to decide on something so I appreciate the encouragement.

[@djredrover]

@@curiores111 ahah its DJ-red rover. Trust me you should keep at this, a few more of your top quality videos and companies are gonna be fighting to be your sponsor. Its always tough in the beginning when you put all this time and effort and seemingly nothing in return but before you know it, all this effort pays off in dt :D. Your mouse-trap (or what sets you apart) is the level of detail you go into and the completeness of the explanation in a very short amount of time. Other similar videos are either short and uninformative, or too long and over explained, you have hit the sweet spot with ur duration, detail, great graphics. Don’t give up!!

[@curiores111]

@@djredrover Ah DJ red rover! I see it now, lol, I can't believe I didn't get that. XD Well thanks so much, you are far too kind. I appreciate you pointing that out, I will keep that "mouse-trap" in mind and see if I can do the same in the next video.

[@djredrover]

@@curiores111 If you need some video ideas, here are a few that I personally would love to see your take on: -Kalman Filter -LQR Controller -AM Radio Receiver -Audio Synthesizer -Camera Gimbal (Investigating an IMU [MPU6050]) -SRAM & EEPROM Usage w/ Arduino -Implementing Multi-Class Software on Arduino -LiDAR Implementation Just some ideas to help you setup more videos, since most companies that sponsor tech videos/channels, are looking for at least 3.5 videos/month of output. So there needs to be a balance between putting time into making videos as good as possible (good for us) and speeding up production to increase output (good for you to attract sponsors). Maybe you should put a PID controller on it LOL. I am an Electrical/Computer Engineer as well so if there is anything I can do to help you out, by all means let me know and I will do what I can! Cheers.

[@onlooker251]

Brilliant explanation - wish I had this explanation when I was at college. 👍🙏🙂

[@Joe-zw9ep]

Exquisitely presented; so clear!

[@JM_Tushe]

For me it's hard to put formulas like these into code so your video is very helpful, thank you!!

[@curiores111]

Thank you, friend. Happy coding.

[@lenslens7379]

The best channel that link theory with practice!! You are awesome 👍👍

[@eanerickson8915]

100% better than my old control teacher.

[@AlexanderLopez-dv6yr]

Excelente video, editing and explanation! Thank you!

[@ghanilawal6798]

This is going to save me a lot of time and headache. Your channel is going to blow up soon. I know it!!!

[@curiores111]

Let's hope so! (that it saves you time and headache, not that the channel blows up ;)

[@abdularisumar5741]

Thank you so much, your explanation and your code really helps me to shorten the low level control in my mobile robot!! Liked!

[@curiores111]

Exactly what I like to hear! Thanks Abdul 😊

[@MalSalmo]

I am so impressed by this. I wondered if you would talk about what issues you encountered before this was operational?! I am struggling with a project!

[@curiores111]

Hi Matthew, thank you! My biggest issue was the velocity measurement, which is why I spent so long talking about it in the video. Other than that the main issue I encountered was instability near zero velocity. What kind of issues are you seeing?

[@HadrienDorfman]

The "speed" of the video is a bit fast BUT it's a very very good explaination of PID control! thanks tons for this :))

[@dhanushkawijethunga]

This channel is a hidden GEM!

[@dannyoneill4888]

Thanks. Was able to implement this in my code and it helped solve the problem I had.

[@curiores111]

Good to hear that. What was the problem that you had?

[@dannyoneill4888]

@@curiores111 Acceleration and Deceleration on a Garage door controller that I designed. Some mosfets (Same Part number and Manufacturer) would behave different to others. Using this(tweak here and there) I could get the Acceleration and Deceleration the same regardless of the irregularity in the mosfets.

[@curiores111]

@@dannyoneill4888 Interesting. Thank you for sharing.

[@ledinhviet5617]

Fabolous explained. Thank you a lot for your sharing. The tutorial are well useful and informative

[@curiores111]

Thank you for the kind words Le Dinh 😊 I am very glad you found them useful.

[@StarKiller5888]

It's a very good video! I advise you to make a video about position/velocity control of a motor with state feedback! I'm studying this things in the course of systems theory and maybe you can also create an Luenberger observator to obtain the state of the motor. Yes i know, there is a lot of linear algebra, matrices everywhere but nobody on youtube create a tutorial about this, it can be something good to bring on youtube!

[@curiores111]

Thank you and I appreciate the suggestion. I don't mind linear algebra and matrices. ;)

[@tatlcocuk9588]

your voice is extremely relaxing :)

[@MEan0207]

This video is very high quality content. Thank you.

[@curiores111]

How nice 😄. Glad you stopped by mist!

[@mariohorlacher4226]

Hello, great Video! I tryed to do it for 2 Motors like the dual Motor with encoder Video. But i cant do it something is missing. Someone got it for a dual setup ?

[@RESC_Eng]

you are pretty brilliant, thank you so much .

[@jailerfonseca7143]

I am very grateful to you. Thank you so much.

[@johnpuckett4032]

Great stuff, very helpful, I really enjoyed this.

[@curiores111]

wow thank you, I'm glad you liked it 😊

[@hoanghohuy1333]

Thank you very much. I'm appreciated that!

[@copernicofelinis]

excellent video production, outstanding didactics. subscribed.

[@curiores111]

How kind and concisely put! Thank you Copernico.

[@souravpoudyal1545]

Thank you!Great content!

[@karanparve1734]

Wow great explaination with Animations

[@CryingNeutrons]

High quality video, many thanks, subbed

[@curiores111]

Thank you, and welcome! :)

[@jyotirmaymohapatra4068]

Well explained, thanks a lot👍👍

[@user-ms8yh2hb3r]

So clear！ Thanks for sharing！

[@RoyAraya16]

Great video! Thanks for sharing

[@MOHITKUMAR-xe7bg]

really good content, pls upload more videos

[@ahmed017162]

wonderful explanation

[@kubasiwon8359]

Love you! You saved my life.

[@emanuelesilvestri6646]

Tutorial bellissimo. Complimenti.

[@tahirkamboh147]

Great video as expected.

[@highfacility9200]

What an amazing tutorial!!!

[@alphaO27]

Great Video, Wish if you have shown the filtered speed using method 2 (the less noisy method)

[@Unknown-ck7fi]

the best video ever ,thanks

[@rileyellis1623]

Fantastic, thank you!

[@ahmadjned3553]

amazing video and amazing chanal ,we are waiting more videos

[@Adhithya1002]

BRILLIANT VIDEO.

[@juxtapos1034]

this is so well made

[@saep13]

What a great video thank you

[@BmxAddict08]

my head hurts but this is gold!

[@narimanabdi537]

Hello. Your videos are fantastic. Can you tell me what software you use to produce this tutorial?

[@neacksen9485]

Hello! Thank you very much for this high quality video. I was just wondering: why are we using an atomic block, or just stopping the interrupts, when fetching its value? What are the risks if not doing it?

[@arvindh13]

Can you explain desired position controll process using encoder, like providing user input & getting that position.

[@leonardoluca5420]

I wonder if this could be improved by defining a transfer function for the motor and doing the root locus to find an optimal gain?

[@ronaksamani2807]

A great video as always Curio Res, keep it up! ....I have a question as to how you are choosing your gain values. This has confused me a lot in the past and I wondered if you could give me some further insight...but how do you choose those gains appropriately? It just seems as though often it's trial and error? I've had a look at approaches and a lot of literature points to Ziegler Nichols. Many controllers do have automatic tuning functions, I'm also curious of its procedures which is a whole new side of the coin as to how they optimise there gain values, but for manual tuning surely there is more of a methodical approach? Let me know your thoughts. Thank you again ! :)

[@curiores111]

Hi Ronak, yes this is a very important question. There are several different approaches. Classically speaking I would say that the two basic approaches are 1. Manual tuning (based on trial and error or intuition) 2. Tuning using a mathematical model (you can use root-locus or other methods to decide the parameters that fit a set of requirements) Details: 1. For the first approach, you're right, you can use Ziegler Nichols. I prefer to play with the parameters and find a response that looks good. The thing I personally find the most helpful is this table that explains how changing the parameters affects the response: en.wikipedia.org/wiki/PID_controller#cite_ref-24 Once you understand that table, you can intuitively adjust the parameters one at a time for simple applications (like the DC motor) 2. In terms of mathematical models, there are several classical methods. It's generally fairly challenging, but Brian Douglas has a series of great explanatory videos: kzbin.info/door/q0imsn84ShAe9PBOFnoIrg Optimization is roughly a branch of (2), where you use an optimizer on the mathematical model to select parameters that improve one or more of the characteristics, like rise time and/or stability.

[@taherrad153]

Thank you so much.Very useful video. There is one thing I'm wondering to know. The input and the output of PID Controller is rpm, right? So how we define it to arduino pins as Voltage? Thanks

[@emredag3768]

Loved it!

[@SomeOne-ke4fz]

omg what a cool tutorial!

[@robinwersich3424]

I had an idea to fix the issues of methods 1 and 2 for velocity measurement. It's basically a hybrid of the two: Regularly check how many pulses there have been since the last check, but instead of just assuming the check interval as time, always record the last pulse timestamp and use it to get a more accurate time between checks Would that work?

[@ziyasahin428]

What additions need to be made when performing PID control with 2 motors?

[@nahlachoual3686]

Can i ask what softwares are u working with like the closed loop scheme and the plot

[@vaughan.gittel]

Good lesson thank you. 😊

[@curiores111]

Certainly, glad you thought so 😊

[@yengajaf]

Nice video. I am trying to implement such speed control on a 0.75kW motor using a VFD. The microcontroller will set the frequency, similar to how yours sets a PWM signal, which is essentially the same. The problem is that for my application, the motor speeds are relatively low (maximum 150 RPM). Initially, I wanted to use hall effect sensors that would trigger a pulse every time the motor passes a magnet over it. The problem is the low resolution: with my current setup, I am only able to measure 6 pulses per revolution. That, combined with the fact that the speeds are low, is making me concerned. Do you think the 6 pulses per revolution will be enough to have accurate PID control? Also, you mentioned there are some potential problems with method 2 of measuring the velocity. Would those issues be a problem in my low speed application? Which method did you end up using? I am guessing that method 2 will not be a good idea for me, because my speeds are low.

[@curiores111]

I ended up using method 1 (number of pulses per fixed time interval). The issue with method 2 near zero velocity was too much of a problem for me. 6 counts per rev is pretty low... it might be okay. Is the motor geared down? For low RPM applications usually using a geared down motor is better. You get more counts per rev, and have fewer issues low voltage required to keep the speed low (there's usually some stall for low voltages when using DC motors).

[@yengajaf]

@@curiores111 yes, it is geared down. I meant that the actual output, the thing that is attached to the motor, will be maximum 150RPM. I am a bit concerned about my 6 counts per rev because compared to your 600, thats 100 times less resolution. To control near zero velocity, I can just turn off the system. For my application, that is sufficient. I don't need it to hold its position, just need to turn it off. But I do see that if I needed to hold it in one position, simply turning it off wouldn't work. Also, is it correct that method 2 won't be able to be filtered, because you need deltaT between sample, and the deltaT between samples would change depending on the speed

[@sewingmachinesindetail]

@@yengajaf I do also think along these lines - could you in some way make method 2 work. I made a couple of videos regarding speed control of sewing machines, and almost all of them got a problem with low speed control. Part of the problem is the static friction of the mechanics when you start sewing. Bad control means, that you try to make one stitch from start but you end up making 4 stitches. I have used another small DC motor as a Tachogenerator to make the feed back signal for speed. It works, but this DC-motor do also produce a ripple voltage, but it will also depend of motor quality. You need to apply a 1 uF capacitor on its terminals to filter out bouncing of the brushes at mechanical resonances. Finally I like to thank @curiores111 for an excellent video.

[@MrRonychakraborty]

awesome tutorial. carry on

[@curiores111]

Much appreciated Rony

[@naveengupta5588]

Instant Sub Amazing content.

[@curiores111]

well thank you 😄

[@adamt3077]

wow! love this

[@hssnov]

Is it possible that we take analog reading of the motor rotation and use ADC to create PID. Is there any video tutorial?

[@stephenboyd6378]

Oh by the way I loved your video I already downloaded the software for Arduino. I will hopefully use one for my project with a Pololu motor controller Jrk G2 18v27 USB Motor Controller with Feedback just not sure which Arduino unit to use yet any recommendations?

[@TriNguyen.V.T]

Hi! Thank you for your great video! I have one question tho. How can i find the cut off frequency, or how did you perform the dft to get the plot in frequency domain? Thank you!

[@TriNguyen.V.T]

Oh nevermind, just saw your other video 😂.

[@curiores111]

Those videos were made just for you 😉😄

[@luckkazz]

Hi there, great video! Learned alot from it. I just have one question. How do i replace the setPoint for a potentiometer? I cant figure that one out at all! Can you please help?

[@curiores111]

Thanks Kenan! There's more than one option. I think the most obvious answer to your question would be something like... (1) Read a value from the pot, let's call it potValue ( e.g.: www.arduino.cc/en/tutorial/potentiometer ) (2) setPoint = multiplier*potValue the value of "multiplier" should be based on the range of set-points that you are looking to achieve.

[@tuyen3586]

Thanks for your great share

[@curiores111]

Of course, and thanks for stopping by Nguyen (assuming this is your given name :)

[@hssnov]

Thank you

[@dantocvn1]

Thanks a lot for sharing this video. Wish that you will do this topic on raspberry pi and using python. Control position and speed using PID :)

[@curiores111]

Good idea, I will try it out.

[@kapileswarbishi3891]

How you are measuring the rpm of the motor in the display? Please show the connection diagram of the LCD display. Is there is any different code to show the rpm ?

[@bachirnail2205]

Excellent

[@DaniMalik-uf6hd]

Kindly tell me which type of encoder dc motor use like how many voltage of this dc motor

[@cnrgal]

Hi curiores once again another great video. I have a question - how does this type of motor control demonstrated in the video differ from controlling the motor via Field Oriented Control which incorporates atleast two PI(D) controllers? Thanks!

[@cnrgal]

also would I be able use this video to control a brushless DC motor?

[@curiores111]

Hi Conor, I'm not familiar with field oriented control... after briefly reviewing it, it is quite similar to the PI controller here. The difference appears to be that a three-phase motor is used, and as a result you have to set up the controller differently. As far as the measurement side goes, you could use an encoder or other device (just like for a DC motor, you don't have to use an encoder, you could also use a tachometer).

[@curiores111]

I think you need a bit more for a three phase motor. I haven't implemented it myself, so I can't say for sure. This would also depend on what motor driver you used, which would probably take care of some of the work for you. If you're simply assigning a single input (power) signal to drive the motor and reading from an encoder, then this method would work. If you need to do more (like handle the inputs to the brushless DC motor) that would require more work than what I've shown here.

[@abishekchaudhari6551]

Please reply ... What is the reason behind measuring only one out of every 64 events of encoder per revolution? and how we are measuring only one .?would you please explain it?

[@jaredevans8518]

Can this be done with a sensorless bldc motor?

[@dipteshchoudhury7972]

Which software you are using to show the circuit diagram ?

[@julchak65]

@Curio Res I am trying to implement this PID speed control but my motor driver board only has the INA and INB, not a PWM input like your Pololu has. I am using a Cytron MDD3A. I'm trying to figure out if the code can be made to work with this driver board or if I need to have that 3rd input? Any thoughts

[@curiores111]

Jeffery, it looks like on your motor driver both inputs are PWM. It seems like if you increase/decrease the PWM signals you should see speed changes. I'm not sure what combination you should use to produce the speeds required... the data sheet doesn't make it obvious. www.robotshop.com/media/files/content/c/cyt/pdf/cytron-3a-4-16v-dual-channel-dc-motor-driver-datasheet.pdf I think they're expecting you to use their library. Have you looked at their example? github.com/CytronTechnologies/CytronMotorDriver/blob/master/examples/PWM_DIR_DUAL/PWM_DIR_DUAL.ino If I wanted to figure out how to do it without their library, I would look at their arduino code (linked above) and determine what combination of PWM signals they use to generate the forward/reverse speeds, and wrap that in my own function.

[@alextolosa6891]

I have a question about the conversion from rpm to voltage. Have you supposed that 1 rpm equal to 1 V? Despite my question, this is one of the greatest videos on DC motor PID speed control I have ever seen.

[@curiores111]

1 rpm definitely does *not* equal 1V. What part of the video suggested that to you?

[@alextolosa6891]

@@curiores111 when the graphic is shown, it is calculated the error of rpm (y axis) and then it is said that if the error is 24, meaning 24 rpm, and Kp is 0.5 the tension given to the motor es 24 * 0.5... this is the part where i get confused. I want to excuse myself for the bothering