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Evaluating Line followers Proportional ìUses the “P” in PID ìMakes proportional turns ìWorks well on both straight and curved lines ìGood for intermediate to advanced teams àneed to
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ADVANCED EV3 PROGRAMMING LESSONPID Line Follower
ìLearn the limitations of proportional controlìLearn what PID meansìLearn how to program PID and how to tuneìPrerequisites: Math Blocks, Color Sensor Calibration, Data Wires, Variables,Proportional ControlWe highly recommend knowledge of Algebra at a minimum. PID is a calculus-based concept and students should understand why it is used and the math behind it before using it.Please use Presentation Mode as there are lots of animations.© 2015 EV3Lessons.com, Last edit 02/10/20172Lesson Objectives
When does Proportional Control Have Trouble?What would a human do?On line àgo straightOn white àturn leftMoving across line àturn rightOn white àturn leftGetting further from line àturn even more!What would proportional control do?On line àgo straightOn white àturn leftMoving across line àgo straight!On white àturn leftGetting further from line àturn left the same amount!© 2019 EV3Lessons.com, Last edit 07/10/20193LIGHT READING = 50%100%
What would a human do?What would proportional control do?Turning left/on line go straight!Getting further from lineturn left the same amount!© 2019 EV3Lessons.com, Last edit 07/10/201941. Predict what the next sensor reading will be2. Has past steering fixes helped reduce error?How can we fix Proportional Control?Turning left/on line àturn rightGetting further from line àturn even more!
Integrals and Derivatives•When the correction is working well, what does error readings look like?•+5, -6, +4 -3.... i.e. bouncing around 0•When steering is not working, what does error look like?•+5, +5, +6, +5... i.e. always on one side of 0•How can we detect this easily? •Hint: look at the sum of all past errors•What is an ideal value for this sum? What does it mean if the sum is large?•Integral èthe "sum" of values© 2019 EV3Lessons.com, Last edit 07/10/201951. Predict what the next sensor reading will be?2. Have past steering fixes helped reduce error?•If readings are: 75, 65, 55 àwhat do you think the next reading will be?•What if the readings were 57, 56, 55...•What information did you use to guess?•Derivative èthe rate at which a value is changing
ìProportional [Error] àHow bad is the situation now?ìIntegral àHave my past fixes helped fix things?ìDerivative àHow is the situation changing? ìPID control àcombine the error, integral and derivative values to decide how to steer the robot© 2019 EV3Lessons.com, Last edit 07/10/20196What is PID?
ìSolid line represents what you have seen, dotted line is the futureìAt time 20, you see light reading = 40 and error = -10 (red X)© 2019 EV3Lessons.com, Last edit 07/10/20197Error-2002040608001020304050Time (sec)Error-2002040608001020304050Time (sec)Light IntensitySubtract target (50)
ìLooks at past history of line followerìSum of past errorìLike area under the curve in graph (integral)ìGreen = positive areaìRed = negative area© 2019 EV3Lessons.com, Last edit 07/10/20198Integral-5005001020ErrorTime (sec)010020001020IntegralTime (sec)
ìHow quickly is position changing?ìPredicts where the robot will be in the immediate futureìSame as how fast is error changingìCan be measured using tangent line to measurements àderivativeìApproximated using two nearby points on graph© 2019 EV3Lessons.com, Last edit 07/10/20199Derivative-15-5515102030ErrorTime (sec)Tangent line-50510102030DerivativeTime (sec)
1.Take a new light sensor reading2.Compute the "error"3.Scale error to determine contribution to steering update (proportional control)4.Use error to update integral (sum of all past errors)5.Scale integral to determine contribution to steering update (integral control)6.Use error to update derivative (difference from last error)7.Scale derivative to determine contribution to steering update (derivative control)8.Combine P, I, and D feedback and steer robot© 2019 EV3Lessons.com, Last edit 07/10/201910Pseudocode
ìThis is the same as the proportional control code© 2019 EV3Lessons.com, Last edit 07/10/201911Code -ProportionalError = distance from line = reading -targetCorrection (P_fix) = Error scaled by proportional constant (Kp) = 0.5
ìThis section calculates the integral. It adds the current error to a variable that has the sum of all the previous errors. ìThe scaling constant is usually small since Integral can be large© 2019 EV3Lessons.com, Last edit 07/10/201912Code -IntegralIntegral = sum of all past errors = last integral + newest errorCorrection (I_fix) = Integral scaled by proportional constant (Ki) = 0.01
ìThis section of code calculates the derivative. It subtracts the current error from the past error to find the change in error.© 2019 EV3Lessons.com, Last edit 07/10/201913Code -DerivativeDerivative = rate of change of error= current error -last errorCorrection (D_fix) = Derivative scaled by proportional constant (Kd) = 4.04
ìEach of the components have already been scaled. At this point we can simply add them together. © 2019 EV3Lessons.com, Last edit 07/10/201914Putting it all TogetherAdd the three fixes for P, I, and D together. This will compute the final correctionApply the correction the the steering of a move steering block
ìThis is what you get if you put all these parts together. ìWe hope you now understand how PID works a bit better.© 2019 EV3Lessons.com, Last edit 07/10/201915Full CodeProportionalIntegralDerivativePutting it all TogetherProportionalIntegralDerivativePutting it all Together
© 2019 EV3Lessons.com, Last edit 07/10/201916Full CodeProportionalIntegralDerivativePutting it all TogetherSet up the 5 variables before the loop and initialize to 0Code has been split for readability. Continues below.
ìThe most common way to tune your PID constants is trial and error.ìThis can take time. Here are some tips:ìDisable everything but the proportional part (set the other constants to zero). Adjust just the proportional constant until robot follows the line well.ìThen, enable the integral and adjust until it provides good performance on a range of lines.ìFinally, enable the derivative and adjust until you are satisfied with the line following.ìWhen enabling each segment, here are some good numbers to start with for the constants:ìP: 1.0 adjust by ±0.5 initially and ±0.1 for fine tuningìI: 0.05 adjust by ±0.01 initial and ±0.005 for fine tuningìD: 1.0 adjust by ±0.5 initially and ±0.1 for fine tuning© 2019 EV3Lessons.com, Last edit 07/10/201917Key Step: Tuning The PID constants
Evaluating Line followersProportionalìUses the "P" in PIDìMakes proportional turnsìWorks well on both straight and curved linesìGood for intermediate to advanced teams àneed to know math blocks and data wiresPIDìIt is better than proportional control on a very curved line, as the robot adapts to the curvinessìHowever, for FIRST LEGO League, which mostly has straight lines, proportional control can be sufficient© 2019 EV3Lessons.com, Last edit 07/10/201918
© 2019 EV3Lessons.com, Last edit 07/10/201919Proportional Control (0.6 Constant) © 2019 EV3Lessons.com, Last edit 07/10/201920Proportional Control (0.8 Constant) © 2019 EV3Lessons.com, Last edit 07/10/201921PID ControlìThis tutorial was created by Sanjay Seshan and Arvind Seshan ìMore lessons at www.ev3lessons.com© 2019 EV3Lessons.com, Last edit 07/10/201922CREDITSThis work is licensed under aCreative Commons Attribution-NonCommercial-ShareAlike4.0 International License.
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