PID (proportional-integral-derivative) control is a common control technique used in a variety of systems
to achieve a desired output by continuously adjusting the system based on feedback. PID control can be
implemented using an Arduino microcontroller by following these steps:
1. Set up your Arduino hardware and connect it to your system.
2. Write a program to read the input from your system and calculate the error between the
desired output and the current output.
3. Use the PID equation to calculate the necessary adjustment to the system based on the error
and the three PID constants (proportional, integral, and derivative).
4. Use the Arduino to apply the calculated adjustment to the system by sending a control signal to
the appropriate hardware (such as a motor or actuator).
5. Repeat the process, continuously reading the input and adjusting the system based on the error.
Here is some sample code that demonstrates how to implement PID control using an Arduino:
double kp = 1; // Proportional gain
double ki = 0.1; // Integral gain
double kd = 0.01; // Derivative gain
double error; // Error between desired and current output
double integral; // Integral of error over time
double derivative; // Derivative of error over time
double lastError; // Last error for derivative calculation
void setup() {
// Initialize serial communication for debugging
Serial.begin(9600);
}
void loop() {
// Read input and calculate error
error = desiredOutput - currentOutput;
integral = integral + error;
derivative = error - lastError;
lastError = error;
// Calculate PID output
double pidOutput = kp * error + ki * integral + kd * derivative;
// Apply PID output to system
applyOutput(pidOutput);
// Print debug information
Serial.print("Error: ");
Serial.println(error);
Serial.print("PID Output: ");
Serial.println(pidOutput);
delay(100); // Wait for next iteration
}
void applyOutput(double output) {
// Use output to control system, such as by sending a PWM signal to a motor
}
This code will continuously adjust the system based on the error between the desired and current
output, using the proportional, integral, and derivative terms to calculate the necessary adjustment. You
will need to customize the code to read the input from your system and apply the output to your
specific hardware.