Servo PID Control of DC Motors Using Encoders, C++, and Arduino - Complete Tutorial

#arduino #encoders #servomotor #robotics
In this robotics and mechatronics tutorial, we explain how to develop a complete control system for controlling an angle of rotation of a DC motor by using an encoder and a PID controller. We explain how to develop a disciplined, clean and object oriented C++ implementation of the PID controller and all the drivers necessary to control the motor and read the information from the encoder. We explain how to develop C++ programs and classes for the motor, encoder, motor driver, and PID control algorithm. We use Arduino to develop the C++ implementation. However, everything explained in this tutorial applies to other microcontrollers such as ESP32 or Teensy microcontrollers. That is, in this tutorial, we explain how to implement from scratch a low-cost servo control system for precise positioning.

[aleksandarhaber]

This is an intro tutorial for the development of the control system. The approach in this tutorial can serve as the basis for the development of a more advanced control system. There are a number of things that can be improved and added. However, the approach presented here serves as the healthy basis and a disciplined approach for building servo controllers. You can easily add an integrator anti-windup filter, feedforward control, disturbance observer, backslash compensation, velocity profiles, and many other algorithms to this code.