PID Speed Control
Tune a closed-loop motor-speed controller in simulation before enabling a restrained low-voltage mechanism.
Learning objective
Tune a closed-loop motor-speed controller in simulation before enabling a restrained low-voltage mechanism.
Components and tools
- Development board
- Current-limited low-voltage supply
- Digital multimeter
- Oscilloscope or logic analyser
- Emergency power disconnect
Safety before motion
- Begin with the mechanism unloaded and restrained.nClamp output and integral windup.nProvide immediate stop independent of the control loop.
Practical procedure
- Measure open-loop response first.nRun the browser simulation with Ki and Kd at zero.nIncrease Kp until response is useful without sustained oscillation.nAdd small Ki to remove steady-state error.nAdd filtered derivative only if needed and clamp output/integral.
Measurement checkpoints
| Checkpoint | Expected | Instrument | Safety limit |
|---|---|---|---|
| Step response | Stable approach to setpoint | Simulator/chart | No sustained oscillationnOutput |
Troubleshooting
| Symptom | Check | Corrective action |
|---|---|---|
| Oscillation | Kp/Ki too high or delay | Reduce gains and sample consistentlynSlow offset |
Safe browser simulation
PID response simulator
Engineering sizing tools
Calculate before powering
Mandatory pre-start gate
Machine safety checklist
The simulated enable button remains locked until every item is confirmed.