STM32 motor control: PID theory and implementation

[@steppeschool3629]

Hello guys. This video is about the PID controller and how to implement it in embedded systems. The source code and slides can be found on: www.patreon.com/posts/pid-control-code-75506709?Link& www.steppeschool.com/products/communities/steppeschool-miscellaneous

[@payalpal4386]

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[@steppeschool3629]

@@payalpal4386 It is paid content. For the price of a cup of coffee, you get access to a whole range of valuable materials: pdf documents, source code, etc. And this small fee allows me to keep creating more useful content for you.

[@botak333]

It posible to control 3phasa motor pmsm sir???

[@botak333]

It posible to control 3phasa pmsm motor sir?? With 2000ppr encorder ABZ

[@sumedhburbure4173]

wonderful demonstration of the PID controller!

[@wasifmehmood85]

Hi yerke! I want to know how did you define the value UPDATE_RATE?

[@steppeschool3629]

Hi! In my project, it is 1 kHz

[@AdaptivePhenix]

To actually answer your question; it's generally accepted that the ideal sampling frequency is 5 or 10 times greater than whatever you're driving can respond. So, in this case of 1KHz, it's ideal for a plant that can respond @100Hz (10ms). In my own case where I use motors of 2KW+, anything faster than 250Hz is a waste of processing power. This demonstrated PID is known as "continuous" which I would never use. The "discretized" method is far superior, in my experience and doesn't require the moving average filter. Recommended references are Dr. Jacob Tal (my mentor) and Chuck Lewin of PMD. Both of these gents explain everything in a way that mere mortals can actually understand. 😁

[@unholy1771]

Thanks a lot! May I ask why use a moving average filter instead of a low pass filter?

[@steppeschool3629]

It works much faster than a low pass filter. Of course, the low-pass filter can be used instead of the moving average.

[@unholy1771]

@@steppeschool3629 really surprised to hear it works faster honestly. What about delay? Doesn't the moving average add more delay because of the more samples?

[@benjaminshields9421]

How do you find the time required for division affects the process in a full implementation with multiple PIDs and MIMO systems?

[@steppeschool3629]

Hi I am sorry, but I did not fully understand your question. What do you mean by division? Do you mean the time for computation?

[@lohikarhu734]

It would be interesting/useful, to show, on the graph of the motor speed, the PWM value that is applied, so that we could see the action of the differential and proportional functions make the quick response of the PWM, and the slower changes due to the integral part... Hmmm... Possibly also show the values of each of the three correction terms? But, maybe that's in the next video?

[@steppeschool3629]

It could be really interesting to show that using an oscilloscope, which I do not have currently😀

[@AdaptivePhenix]

At a sample rate of 1KHz?

[@yigitmertsevindim1669]

Why using filters ? For calculate clear?

[@rajdeepdas86]

very good bro

[@steppeschool3629]

Thanks

[@lailasymky2750]

Can u give the code please?

[@steppeschool3629]

You can find the source code and tons of other materials on my Patreon page: www.patreon.com/user?u=80399744

[@sinhphan8202]

@@steppeschool3629 Does it cost 7 dollars to read the code??

[@steppeschool3629]

Yes, it does. You will unlock access to all projects.