Hardware Demo of a Digital PID Controller

The demonstration in this video will show you the effect of proportional, derivative, and integral control on a real system. It's a DC motor connected to an optical rotary encoder (quadrature) and is controlled by a digital control loop implemented on a TI Launch Pad MSP432. It uses a series of timers and interrupts to generate the PWM signals to the H-Bridge motor driver, read the pulses from the encoder, and calculate the control effort using a PID control algorithm. It also implements an anti-windup algorithm to improve the system stability since this is a real system and the motor saturates easily.
If you listen, you can hear the PWM signal whine as it adjust the current to the motor. When I push on the flag with my hand you will hear it go quiet. That's when the PWM is at 100% duty cycle and the audible PWM AC current going to the motor is now DC.
Post a comment if you liked the video!
You can download the code, design files, and parts list here:
github.com/ard...
(out of date: sourceforge.ne... )
Enjoy!
www.gregoryhols...

[@AmitsLife]

Thank you for not using any music

[@landonjacobs815]

kzbin.info/www/bejne/l4DPZYytdqysjNk

[@julians.2597]

@@John-eh2zc not doesnt like music, doesnt like annoying background music in tech videos. Usually because one either cant listen to it atm or is already listening to their own music, or because the music used is really bad stock music

[@pfaprado]

Man this is the best summary of PIDs an engineering student could get. Thank you!

[@marcioandreyoliveira]

Forastieri I second you. This demo is simply amazing. I loved it a lot .

[@arduinoNube]

I'm glad you found it helpful! I actually built this for a mechatronics class demonstration at Georgia Tech where I did my teaching practicum (TA) during grad school.

[@jonatan01i]

Thank you very much for sharing it with us!

[@nialv7985]

That is a very expressive hand

[@auzworld]

Yeah..its like its got a life of its own !!

[@vivekvenkatsubramaniam437]

I read it as 'expensive' and wondered why a prosthetic arm looked so real

[@itzm1kea]

I read expensive too ^^😄

[@nicolassoncini2266]

I watched this video 4 years ago and now I'm doing my master's thesis on control and just today as I was thinking about it, it popped back into my recommended. Love it!

[@arduinoNube]

Nicolas S. Thank you for taking time to leave a note. I hope your thesis goes well! Glad you found the video helpful!

[@engvdo5297]

It's amazing. till now we seen only formulas and heard something like PID. But, now we can understand practically how it's work Thank you so much

[@landonjacobs815]

kzbin.info/www/bejne/l4DPZYytdqysjNk

[@IncroyablesExperiences]

Very clear, great job!

[@landonjacobs815]

kzbin.info/www/bejne/l4DPZYytdqysjNk

[@PeteVree]

This is phenomenal. So cool that you've shared the code, etc. Thanks so much.

[@arduinoNube]

Np. Let me know if you find it useful. -G

[@martinmiglio]

I wrote a final paper on this concept for one of my math courses, yet this video explains the main idea in 3 minutes

[@landonjacobs815]

kzbin.info/www/bejne/l4DPZYytdqysjNk

[@quahntasy]

*Finally in 2020 I found a hand that talks. Way explanatory video than people actually talking to explain*

[@landonjacobs815]

kzbin.info/www/bejne/l4DPZYytdqysjNk

[@ColinMcNulty]

I was a Motion Control Engineer in my very first job 25 years ago, long before robots were cool like they are today. I worked on streamlined robotic arms inside wind tunnels, satellite tracking TV transmission vans, formula 1 racing car "4 poster" testing rigs, air-to-air missile testing systems, and tank tracked robots that would crawl inside nuclear reactors using neodymium magnets that hugged the surface so they could drive upside down held up by magnetism! At their core, all those projects worked because of PID control of DC motors. Some days I wish I'd staying in that industry... :-/

[@Homo_neanderthal]

Hi! Thanks for sharing your experience. Why did you leave the industry and where are you now?

[@21mejia25]

I heard about PID control from people in the BBQ world, but had no idea what it actually meant. Now, I am weeks away from getting a degree in Mechanical Engineering and I have a much better understanding. Your video really solidified everything and provides an excellent explanation of PID control. As a side project, I am going to build a PID controller to regulate temperatures of a smoker with the use of a fan.

[@vilmondesribeiro4363]

Phenomenal, and congratulations, this will help our students to understand PID and closed loop control systems.

[@landonjacobs815]

kzbin.info/www/bejne/l4DPZYytdqysjNk

[@j3s0n]

The idea of using a pendulum to demonstrate this is genius as it's so easy to imagine the movement in relation with underdamped and critically damped graphs in your minds eye

[@landonjacobs815]

kzbin.info/www/bejne/l4DPZYytdqysjNk

[@danielnilsson7393]

Damn this is the best explanation of PID I've ever seen and it's in under 3 minutes

[@W00PIE]

Currently working on a DIY PID controller for homebrewing, I have just finished some tests and also ran some auto-tuning methods (Ziegler-Nichols), now I have the maximum overshoot down to 0,1K, which is really nice. But boy, it takes time! The output is used as PWM control for an SSR with a cycle time of 5 seconds. It must be fun to work with a system that reacts so fast like yours, you get instant feedback and can tweak more or less in realtime. I think, I'll build something similar, just for fun!

[@doruxan]

Hey man. Can you give some insigths and maybe some articles or content to implement a self tuning pid?

[@chaitanyapatil7513]

hey man please help me with this project

[@gams101]

This is such a good demonstration about understanding the PID. I really wish I found out this video quite earlier when I was having a project in my Control System subject so that it would be less bloodier for my group.

[@martin840909]

Great video, clear shows the function of PID. It is much better than many explanation videos with too many words and formulas.

[@isettech]

For high speed servos, it is common for the PID to be clocked at 6MHZ or more. Some applications are analog using 3 summed op amps. One for each component of PID. They are more difficult to tune. The Proportional is simple and can use a pot for gain. Derivative and Integral have both gain and time components which must be timed to the motor and load to be properly tuned. The gain is simple with a pot, but the time, involves changing capacitors, or changing the clock rate on a switched capacitor low pass filter, or other adjustable low pass filter.

[@abdellahbarrous8516]

Best video on PIDs ! Short, well explained and covers all aspects of the subject.

[@landonjacobs815]

kzbin.info/www/bejne/l4DPZYytdqysjNk

[@rogerandersen7046]

i kinda now want just this youtube channel to have loads of videos of strange electroprojects with this talketive hand.

[@landonjacobs815]

kzbin.info/www/bejne/l4DPZYytdqysjNk

[@zvikagivli7665]

KZbin was made for this kind of videos. GREAT!!!

[@landonjacobs815]

kzbin.info/www/bejne/l4DPZYytdqysjNk

[@Dillbeet]

This perfectly bridged the gap between the math and real world output! Thank you :)

[@landonjacobs815]

kzbin.info/www/bejne/l4DPZYytdqysjNk

[@AUTEM_Industrial_Automation]

At GeorgiaTech, Atlanta, I've had the change to physical watch this demo in ME6405 course with J. Rogers. Great job Gregory ! 👍

[@dekyed]

Finally a great demonstration to help us visualize these ideas!

[@naboulsikhalid7763]

you saved my day. I couldn't wish more. Now I saw all these constants working, their effects in real time. thank you very much

[@MunamNaseer]

Thank you so much Mr.Gregory L. Holst , I salute you for such a great heart to share everything , it will help us to understand working and implementation of PID controller. You are at place of my professors. I will start working on your efforts . Thank you thank u again.

[@passion7312]

Finally after watching lot of videos about pid, your video helped me to understand pid easily. Thankyou

[@milindgulve9136]

This is one of the best Explanations for PID With practical meaning I have ever seen and understood. Thankyou !

[@kaili9552]

best PID illustration video I have ever seen.

[@MrPashee]

Best explanation of PID I've ever seen.

[@Aw4yed]

man i never understand the pids but now with ur video it looks really easy

[@AdaptivePhenix]

Excellent stuff! I would add one extra feature: u = Kp*error + Ki*error_i + Kd*error_d + offset; Sometimes we have a deadband or the axis is fighting gravity; In reality, the Ki can never stabilise the axis.

[@thegreatzoom5073]

I don't see why it couldn't? The I term just keeps accumulating error and would end up reeling in that offset or deadband on its own right? And if it's oscillating over the point then the D term is supposed to dampen those oscillations.

[@lucasmatsuoca]

@@thegreatzoom5073 Ki*Error_i can and will be enough to get to reference with propper Anti-windup, or, if necessary, with some sort of adaptive PID gain. Never heard of this "+offset", but it might be a thing, i just never heard of

[@acrobat9983]

Probably the best PID Vid on KZbin :)

[@landonjacobs815]

kzbin.info/www/bejne/l4DPZYytdqysjNk

[@natarajana.v4262]

Best explanation for a PID controller. Very practical and amazing.

[@ms2649]

I never quit knew how to prevent windup properly, i used to just reset the error when target was reached and it "worked" but was not how it should be done. Had a look at your code and now have a better understanding of how to do it

[@RetroCarton]

Very well explained video. It's a great project Maybe you should do a basic tutorial for dummies on the P, I and D effects on the control system, it would be a great idea

[@landonjacobs815]

kzbin.info/www/bejne/l4DPZYytdqysjNk

[@Tadesan]

I worked at a company where the PID control was referred to as Pissing In the Dark. Man those guys sucked. You rock!

[@laworder416]

hehehe what is the name of that company?

[@turk639]

well it kinda is, you have to find the right parameters for it to work really well for your application, though once you find them it can be hella tight, though finding these controll parameters is an art and not really a science

[@camilomartinez1105]

I love control theory, it's my favorite branch of electronic engineering Greetings from Colombia

[@TeDoFwAr]

Thank you. The missing info is found..... And all the code to build and explore further. Legend!

[@landonjacobs815]

kzbin.info/www/bejne/l4DPZYytdqysjNk

[@melhariri6720]

A brilliant video demonstration with clarity and simplicity...well done! Thanks for the contribution.

[@cyrelharris]

Awesome demo. For me this is very informative and I recommend that everyone, using PID controls should watch this video.

[@MAYDAYDEEJAY]

I don't think I've ever seen better explanation of PID :) Very Nice !

[@MrImmi34]

One button, controls so many gains, frequency code... amazed.

[@MrSaemichlaus]

Excellent teaching! Practical, hands-on and playful.

[@damny0utoobe]

Love it. Great logical explanation. Makes control systems look easy

[@emreipek4485]

I couldn't understand PID controller how to use in real life. Perfect work! Thanks a lot :)

[@landonjacobs815]

kzbin.info/www/bejne/l4DPZYytdqysjNk

[@inibapakbudi]

Wow. Thanks for the video. Actually, my Final Project when in college is similar to this, but only Software simulation. And you make my dream come true!

[@jonathanrabe3727]

Dude, you nailed that! That looks perfect, and you didn't even fine tune the parameters but it still works so good...

[@landonjacobs815]

kzbin.info/www/bejne/l4DPZYytdqysjNk

[@miguelangelluengotoledano7106]

Thank you very much for sharing your excellent work with all of us.

[@marlinderwall8873]

I don't do control systems but I did IT work in refineries. Why control systems engineers needed advanced degrees makes a lot more sense now.

[@chrisbryden8102]

An absolutely amazing demonstration and final result!!!

[@charmindesai3730]

You actually deserve more than a million views until now :)

[@paulocesarestradasoplin5078]

Extremely awsome demonstration, great job!

[@Gameplayer55055]

Very useful video for learning PID technology. I just made Minecraft thermostat with it, thanks!

[@arduinoNube]

Oh! Can you make a video/screencast and post a link?

[@Gameplayer55055]

Working in progress

[@brodiemacleod69]

Video so good you did all the teaching my proof needed when showing this to our entire lecuture lol

[@vextrek6036]

Now that is an awesome video. Thank you for doing this.

[@WofWca]

Awesome. 10 hour version pls. Ok, just a little bit more would be enough.

[@arduinoNube]

I do take requests. :) thanks for the comment. As soon as I hit 1000 subscribers I’ll make another video. Which would you prefer 1) how to build and program a PID controller or 2) a more in depth run through of what I showed in this video? Reply with a 1 or 2 and I’ll make the one with the most votes.

[@midwestmangos2452]

@@arduinoNube both, but if I had to pick just one I'd say #2. There's tons of libraries and example codes of PID controls for Arduino and other controllers out there, and it would be nice to have a good walk through explaining how to set it all up, but having the deepest and best understanding of the PID system itself can help with tuning and optimizing of any of those systems.

[@MuhammadHamza-ul5ky]

Your demonstration is FAB. 👌 Thank you !

[@punpck]

great demonstration! the best on summary I've ever seen :)

[@sharmashaun]

Best demonstration on youtube!! Thanks a lot

[@nosweat9841]

Great illustration. I'll share it with my fellow techs.

[@MrBobWareham]

Very good demo of PID control nice demo hardware well made and executed

[@Egon3k]

so satisfying when it is set up correctly :)

[@landonjacobs815]

kzbin.info/www/bejne/l4DPZYytdqysjNk

[@luistorh]

Thanks for a video where every second tells! 3 min. of PID essence.

[@giovannibianchessi1578]

Great, clean and instructive demo! Thank you.

[@quantenschaum]

Very nice demonstration. Thank you. Many commented, that it's a good explanation, but it does not explain anything, it just shows it in operation. Is there more information about the exact setup, the motor, position sensor, controller, software?

[@mikeallenfpv]

This is very cool thanks for demonstrating!

[@junaidayaz6011]

I just have to say.i have not learned all this in control systems in 6 months in my semester,as from this 3 mins video..Thanks man!

[@MrJacobbbo2]

If only my multi rotor was tuned so well.

[@cetyl2626]

I wonder if windup is a problem in multi rotors? I don't recall seeing that parameter.

[@georgegx95]

@@cetyl2626 modern multirotor code has way more pid controller improvements than just windup, but for curiosity reasons here you go: github.com/betaflight/betaflight/search?q=windup&unscoped_q=windup

[@mathurhp]

This demonstration is what they must be showing in classrooms.

[@RodrigoCruz-iz3kb]

Amazing! Your videos are helping me a lot in control theory!

[@knowtheunknown2840]

awesome demonstration

[@landonjacobs815]

kzbin.info/www/bejne/l4DPZYytdqysjNk

[@wyvern4588]

Amazing this system can control multi-copters with so much noise, multiple motors wind drag and infinite different forces at work. Now when this system wigs out, your drone is hell on blades.

[@midwestmangos2452]

IIRC almost every drone controller already uses PID in their software.

[@yahuiz7877]

you bring to light for my embedded project! Thank you!

[@techelevatesolutions]

Fantastic work, thank you for taking the time to make this

[@johanelmander3787]

Best explanation ever.

[@deathpony698]

This is on par with a 400 level course I spent $3000 on... cool

[@landonjacobs815]

kzbin.info/www/bejne/l4DPZYytdqysjNk

[@kunalpanchal7751]

Awesome presentation of control theories.. Loved it..!!

[@esnatzea]

Thank you! Really awesome and very good to understand the concept!

[@rojbinandan2806]

Excellent example of PID controller

[@technoshamanarchist]

Very nice and explanatory demonstration. Thank you :)

[@arduinoNube]

+technoshamanarchist Hey, no problem. I'm glad you liked it. Maybe if there's enough interest, I'll do another video on how to build and program it. :)

[@technoshamanarchist]

+Gregory L. Holst That would be great :)

[@PorkyFighter]

+1 I would love that!

[@moayaddaghles9544]

Great ...... What I was looking for since long time Thanks alot

[@fabriglas]

wish we had this in college. Control was my least favourite subject because it was not very practical best explaintion of the material I have ever seen!!!!!!!!!!

[@jaimerdz3274]

Thank you for this great demostration.

[@wackyvorlon]

Thanks for sharing your design and code!

[@nicholasjohnson3542]

Excellent demonstration.

[@spastor92]

I dont know why i am here but is so satisfying

[@AlexBuznik]

Amazing execution, well done

[@landonjacobs815]

kzbin.info/www/bejne/l4DPZYytdqysjNk

[@mohammedfawzikharroub8482]

Thank you for your effort in explaining. Great video. Keep it up (Literally using PID control xD).

[@toledomerendo]

Neato! Thanks for sharing this with the world!

[@dimasarifiyan3758]

So cool! Thanks man, you taught me a lot in a short time

[@sumanth5875]

Phenomenal demonstration, thank you!

[@syahrul9282]

Holy shit the last one is really satisfying

[@bofasaldana6849]

Thank you so much for this video!

[@maxounette-jv7dj]

A masterpiece! It's good you made it silent, because if its needed we could be put on pause without having half a sentence ;)

[@landonjacobs815]

kzbin.info/www/bejne/l4DPZYytdqysjNk

[@elena6516]

this is awesome, thank you for this!

[@diansafari4875]

Great video, it's help me understanding pid terminologi

[@ethanoch]

Great demo!

[@kaoshavoc]

Awesome. Wish i had seen this when i was making a pid out if an arduino.

[@adiletskwaer7236]

Dear Mr. Holst, this is a very relevant and very wonderful job. Thank! However, the implementation of this project on arduino using cheaper drivers would be even more wonderful and relevant. Please tell me, can this be translated into arduino?

[@W00PIE]

There are a lot of PID libraries available for Arduino and ESP8266/32 and similar. There's also a PID Autotuner for getting the right set of parameters. Give it a try, it is very straightforward and easy to understand.