You gotta tune your PID controllers or the PID controllers tune you
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You gotta tune your PID controllers or the PID controllers tune you

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Industrial ARM Edge Gateway with OpenPLC for PID Control
Case Details
The ARM Edge Gateway is the core of data acquisition and control in industrial settings, integrating the open-source OpenPLC control platform. It supports multiple programming methods such as Ladder Diagram (LD), Function Block Diagram (FBD), and Structured Text (ST), with built-in PID control algorithms. The gateway enables local closed-loop control and seamless communication with upper-level systems or cloud platforms via Ethernet, 4G, or WiFi, balancing real-time performance and flexibility.
System Architecture and Functions
Hardware Layer
Sensors: Collect signals such as temperature, pressure, liquid level, flow, and speed (supporting analog/digital inputs).
Actuators: Control devices like motors, valves, heaters, and pumps (supporting analog/relay outputs).
ARM Edge Gateway ARMxy series:
CPU: Cortex-A7/A53/A55, delivering robust performance.
Interfaces: optional RS485/RS121, Ethernet, IO, 4G/WiFi.
Functions: Real-time data acquisition from the field, supporting multiple industrial protocols.
Control Layer
OpenPLC Platform (Running on ARM Gateway):
Complies with IEC 61131-3 standards, supporting multiple programming languages.
Built-in PID function blocks, supporting proportional (Kp), integral (Ki), and derivative (Kd) parameter tuning, with flexible sampling cycle settings.
Supports multi-loop PID control, suitable for complex industrial scenarios.
Application Logic
Typical Control Loops:
Temperature Control: Sensor collects temperature → OpenPLC processes → Adjusts heater.
Pressure Control: Pressure sensor collects data → OpenPLC processes → Controls regulating valve.
Speed Control: Encoder feeds back speed → OpenPLC processes → Adjusts variable frequency drive.
Upper-Level Management
Local Management: Communicates with HMI/SCADA systems via Modbus TCP or MQTT protocols for real-time data monitoring.
Cloud Platform Integration: Supports historical data storage, remote parameter tuning, and trend analysis.
Alarm Mechanism: Automatically triggers alarms when control errors exceed set thresholds.
Typical Application Scenarios
Building HVAC: Precisely regulates room temperature.
Water Treatment Systems: Maintains constant water level or flow control.
Boilers/Kilns: Achieves closed-loop regulation of combustion temperature.
Motor Speed Regulation: Ensures constant speed or pressure operation.
Food & Beverage/Fermentation Industry: Accurately controls temperature and humidity to enhance production quality.
Solution Advantages
Open-Source and Customization: OpenPLC’s open-source nature provides high flexibility and low development costs.
Edge Computing Capability: The ARM gateway supports local computation, reducing dependency on cloud systems and minimizing network latency.
Strong Real-Time Performance: Local PID closed-loop control ensures fast response and high reliability.
High Scalability: Supports multiple industrial protocols (Modbus, OPC UA, MQTT), facilitating integration with cloud platforms or other systems.
Summary
This solution, centered on the ARM Edge Gateway and integrated with the OpenPLC open-source platform, builds an efficient, flexible, and cost-effective industrial control and data acquisition system. It achieves real-time performance through local PID closed-loop control and scalability through multi-protocol support and cloud integration, making it suitable for various industrial scenarios. Leveraging open-source features and edge computing capabilities, this solution offers robust customization and real-time control while reducing costs, making it an ideal choice for industrial automation.
ARM Edge Gateway is integrated with the OpenPLC open source platform for local PID closed-loop control to achieve real-time performance.
PID (Proportional-integral-derivative) control is a most commonly used closed loop control in industrial automation to control a parameter continuously.
PID (Proportional-integral-derivative) control is the most common used closed loop control system in industrial automation. It has applications where a variable parameter need to be controlled continuously.
Modeling of DC Motor and Choosing the Best Gains for PID Controller
by Ye Htet Aung | Tin Tin Hla ""Modeling of DC Motor and Choosing the Best Gains for PID Controller""
Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-3 | Issue-5 , August 2019,
URL: https://www.ijtsrd.com/papers/ijtsrd26636.pdf Â
Paper URL: https://www.ijtsrd.com/engineering/electronics-and-communication-engineering/26636/modeling-of-dc-motor-and-choosing-the-best-gains-for-pid-controller/ye-htet-aung
call for paper health science, ugc approved engineering journal, social science journal
Relationship of different algorithms
I just realized today that proportional derivative control is basically the same as a perceptron algorithm in the application I’m using.  Using the PD controller basically allows you to control the relationship of your weights and inputs more, since the perceptron has an associated function that is a pure linear relation between the vector of input vectors and the output vector using the vector of weights.
I haven’t quite thought through everything to see if this corresponds to a reduction of sorts to bring the problem down to linear, but it’s an interesting thing to connect for understanding purposes.

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Water Rocket Control
I made a controller for my water rocket!
Quick note about PID control tuning
See Ziegler–Nichols tuning method
 http://en.wikipedia.org/wiki/Ziegler%E2%80%93Nichols_method
The other day I was trying to tune a PID controller for a simple boost converter. After spending a lot of time trying to get all the parameters right to get a good feedback response, I went to the internet and discovered this method.Â
Steady state error on my yaw angle is about 25 :S Off to increase my integral gain.Â