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Common::PID settings (joint unable to lift a weight)

asked 2016-03-19 13:41:08 -0500

Brosseau.F gravatar image

Hello everybody,

I am trying to simulate a robot which must lift an object from the ground.

I use a prismatic joint controlled with a plugin. I use JointController class and functions like SetPositionTarget to control it.

When I send a position without an object to lift, the target position is reached. But when I have an object to lift, the target position is not reached. I tried to tune PID values but even with very high values the target position is not reached. I checked the effort limit and the effort sent to the link is ten time lower to the limit (so no limitation from the model).

Is it just a pid settings problem or is there another way to do it.

Thanks in advance

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could you please show me your code of this question? i am building a robot like this as a homework, but i have no idea how to do this:(, thank you a lot !

hades208002 gravatar imagehades208002 ( 2017-05-22 07:53:46 -0500 )edit

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answered 2016-03-21 12:30:30 -0500

pcdangio gravatar image

Here are typical steps for setting PID gains empirically (aka by trial and error):

  1. Increase your P gain until the actual value reaches the desired value in the desired amount of time (rise time). This will typically result in large oscillations that take a while to settle down... but that will be fixed later. For now, just focus on rise time. Make sure that your P is low enough that the system remains stable (aka the oscillations die off after a certain amount of time). If your actual value will not reach your desired value no matter how high you set your P gain, skip to step 3.
  2. Increase your D gain to reduce the oscillations until you reach your desired settling time (aka the time it takes for the oscillations to fall below +/- 5% of the desired value). Be careful here, D gains are very sensitive and can cause very noisy responses, especially when you are working with a discrete system with relatively large time steps (like in simulation).
  3. If your system has steady state error (aka no value of P gain can get the actual value to reach the desired value), start increasing your I gain until the steady state error disappears in a satisfactory amount of time.
  4. Repeat steps 1-3 to continuously fine tune the PID controller.

The general idea here is to start with small gains, and run through these steps several times, changing the gains a little bit each time. Hope that helps!

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Thanks to both of you guys. I manage to make it work.

Brosseau.F gravatar imageBrosseau.F ( 2016-03-22 02:39:47 -0500 )edit
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answered 2016-03-21 12:04:31 -0500

nkoenig gravatar image
  1. Try higher values. Keep increasing the values until it moves.

  2. Make sure the inertia of the object is correct.

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Asked: 2016-03-19 13:41:08 -0500

Seen: 1,474 times

Last updated: Mar 21 '16