[ 06 ]lab · simulations

PID tuner

Tune a PID loop against a real plant - first-order-plus-dead-time or a mass-spring-damper - with saturation, anti-windup and a derivative filter, and read off the numbers a datasheet would ask for: rise time, overshoot, settling time, steady-state error.

lab · sims · PID tuner

Motion planner →Trapezoidal and S-curve stepper moves. Beam deflection →Cantilever, simply-supported and fixed-fixed beams. RC/RLC filter →Bode plot and step response.

The tuner [ live ]

setpoint - - - · output — · value (deg)

control effort, with saturation limits dashed when enabled

—rise time 10–90%

—overshoot

—settling time (2%)

—steady-state error

—peak control effort

—time spent saturated

Plant

plant model

gain K time constant τ (s) dead time L (s)

Setpoint & gains

setpoint step K_p K_i K_d derivative filter T_f (s)

Output limits

limit the output (saturation) min max anti-windup (conditional integration)

Time window

duration (s)

Assumptions and limits. The plant starts at rest and the setpoint steps once at t=0 - there is no load disturbance, sensor noise or actuator rate limit modelled. The first-order-plus-dead-time plant is a linear approximation of things like a heater or a motor's speed loop; the mass-spring-damper plant is a linearised, single-axis model of a joint (k=0 gives a free mass with viscous friction only, the usual case for a roughly balanced joint). The integration step is chosen automatically from the plant's own time constant, not from a slider, specifically so a stray gain cannot make the numbers unstable for a reason that has nothing to do with the control loop. The three presets are illustrative starting points, not measurements off real hardware.