What is a PID Controller?
A PID (Proportional, Integral, Derivative) controller is a feedback loop control system that improves the accuracy of servo motor positioning by minimizing the error between the desired and actual motor position.
How the PID Controller Works
The PID controller adjusts the output (servo position) based on three components:
- Proportional (P): Responds to the current error.
- Integral (I): Responds to the sum of all past errors.
- Derivative (D): Predicts future errors based on rate of change.
By tuning these values, you can optimize the response of your servo motor and reduce overshoot, oscillation, and settling time.
Arduino PID Example Code for Servo
#include
#include
Servo myServo;
double Setpoint, Input, Output;
PID myPID(&Input, &Output, &Setpoint, 2, 5, 1, DIRECT);
void setup() {
myServo.attach(9);
Setpoint = 90; // Target position
myPID.SetMode(AUTOMATIC);
}
void loop() {
Input = myServo.read(); // Read current position
myPID.Compute(); // Compute PID output
myServo.write(Output); // Adjust servo position based on PID
delay(50);
}