For those not in the know, PID stands for proportional, integral, derivative control. I’ll break it down:
P: if you’re not where you want to be, get there.
I: if you haven’t been where you want to be for a long time, get there faster
D: if you’re getting close to where you want to be, slow down.

Motors, in general, don’t start or stop on a dime. So it’s easy to overshoot, undershoot, whatever. PID allows you to dial in those three concepts with numbers

Thanks Warlax 56 for simplifying the PID

تجربة مثيرة لفهم تأثير معلمات متحكم PID
تستطيع تحميل ملفات المشروع من الرابط التالي :  https://drive.google.com/file/d/0BzmbIyWePioHWVhHZE04QmVnck0/view?usp=sharing&resourcekey=0-iivFjFSA6x_Rj1QQKSBgCQ

Author : Dale Heatherington

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:
https://github.com/arduinoNube/digital-pid-classroom…

David explains PID controllers.
First part of a mini-series on control theory.
Forum: http://www.eevblog.com/forum/blog/eevacademy-6-pid-controllers-explained/

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