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PID tuning lab
Tune Kp, Ki and Kd on a motor model and read overshoot, settling time and steady-state error.
About 25 min
Motor speed loop
First-order motor: 1 krpm per volt, τ = 2 s, drive limited to ±12 V, PID sampled at 200 Hz.
Target: overshoot under 10 % and settling under 1 s.
Target not met yet- Overshoot
- 0.0 %
- Settling time (2 %)
- not settled
- Steady-state error
- 0.334 krpm (33.4 %)
Setpoint
Start with Kp, add Ki to remove the steady-state error, then trim overshoot. Hint: put the integral zero (Ki / Kp) near the motor's 1/τ = 0.5 s⁻¹.