Closed-Loop Control and PID

10 Lektionen in dieser Stufe

1. Open Loop, Closed Loop and Feedback
   Explain why feedback is needed and name setpoint, process value, error and output. · Lab: Run a motor open-loop under varying load and record how speed drifts.
2. On-Off Control with Hysteresis and Its Limits
   Implement a two-point controller and observe its oscillation. · Lab: Hold a heater near a setpoint with on-off control and plot the ripple.
3. Proportional Control and Steady-State Error
   Add an output proportional to error and see the remaining offset. · Lab: Control motor speed with P only and measure the offset at three gains.
4. Integral Action and Anti-Windup
   Eliminate offset with an integral term and limit it when the output saturates. · Lab: Add I, provoke windup by blocking the motor and then fix it with clamping.
5. Derivative Action and Noise Filtering
   Damp overshoot with a derivative term computed on measurement and filtered. · Lab: Add D with and without a low-pass filter and compare output noise.
6. Fixed Sample Time and a Reusable PID Class
   Run the controller at a constant period and wrap it in a class with limits and modes. · Lab: Write a PID class with compute, setTunings and setLimits and use two instances.
7. Step-Response Tuning by Experiment
   Tune gains systematically from recorded responses instead of guessing. · Lab: Tune the speed loop using a documented sequence of step tests.
8. Motor Speed Control with Encoder Feedback
   Measure speed from a quadrature encoder and regulate it under load changes. · Lab: Hold wheel speed constant while braking the wheel by hand.
9. Temperature Control of a Low-Voltage Heater
   Control a slow thermal process with slow PWM and safety limits. · Lab: Regulate a small chamber to 40 degrees Celsius with over-temperature cut-off.
10. PID Line Following and Feed-Forward
    Apply control to steering and add feed-forward for faster response. · Lab: Replace the three-sensor logic of the robot car with PID steering and compare lap times.

Abschlussprojekt

A speed-regulated robot car drive and a PID-controlled low-voltage heater chamber, each with documented step responses and tuning values.

Teile für diese Stufe

• 1 × UNO-compatible board
• 1 × ESP32 development board
• 2 × USB cable matching each board
• 1 × Solderless breadboard 830 points
• 1 × Jumper wire set male-male and male-female
• 1 × Geared DC motor with quadrature encoder
• 1 × TB6612FNG dual motor driver module
• 1 × Logic-level N-channel MOSFET module
• 1 × Low-voltage heating element 12 V
• 2 × NTC thermistor 10 kilohm
• 2 × Resistor 10 kilohm
• 1 × Bench or plug-in power supply 12 V 2 A
• 1 × Infrared line sensor array 5 channel
• 1 × Robot car chassis kit two-wheel drive with motors and wheels
• 1 × Small 12 V fan
• 1 × Digital multimeter

In jeder Lektion legst du die passenden Teile direkt in den Warenkorb. Arduino-kompatibel →