Configuración PID del reCamera Gimbal

¿Qué es PID?

PID significa control Proporcional–Integral–Derivativo. Es un mecanismo de retroalimentación utilizado para controlar con precisión el movimiento del motor basado en ángulos objetivo y velocidad. Cada componente desempeña un papel específico:

• P (Proporcional):

  Determina qué tan fuertemente reacciona el motor al error actual (diferencia entre el valor deseado y el real).

• I (Integral):

  Ayuda a eliminar el error residual de estado estacionario acumulando errores pasados a lo largo del tiempo.

• D (Derivativo):

  Predice el error futuro basado en la tasa de cambio, utilizado para amortiguar la respuesta y reducir el sobreimpulso.

  ⚠️ Advertencia: Modificar incorrectamente las configuraciones PID puede resultar en tensión excesiva del motor o acumulación de calor, lo que puede dañar el motor con el tiempo. Por favor proceda con precaución al ajustar los valores PID.

Ajustar PID con Node-RED

El panel de control predeterminado le permite ajustar los parámetros PID para cada motor usando las cajas de entrada de texto. Después de ingresar los valores, haga clic en Save PID Settings para aplicar los cambios.

Eje Yaw:

• PID de Ángulo

  kp = 50 ki = 0 kd = 0

• PID de Velocidad

  kp = 260 ki = 20 kd = 0

Eje Pitch:

• PID de Ángulo

  kp = 50 ki = 0 kd = 0

• PID de Velocidad

  kp = 100 ki = 20 kd = 0

Si eliminó o modificó el flujo y desea restaurarlo, puede usar el siguiente json.

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kp","order":6,"width":0,"height":0,"topic":"pitchSpeedKp","topicType":"str","mode":"text","tooltip":"","delay":300,"passthru":true,"sendOnDelay":false,"sendOnBlur":true,"sendOnEnter":true,"className":"","clearable":false,"sendOnClear":false,"icon":"","iconPosition":"left","iconInnerPosition":"inside","x":160,"y":660,"wires":[["d1f3c8b3.9c3b9"]]},{"id":"8e84cd5ae33d92e2","type":"ui-text-input","z":"cc4fa65c792db7e2","group":"944f240637232c4b","name":"Pitch speed ki","label":"Pitch speed ki","order":7,"width":0,"height":0,"topic":"pitchSpeedKi","topicType":"str","mode":"text","tooltip":"","delay":300,"passthru":true,"sendOnDelay":false,"sendOnBlur":true,"sendOnEnter":true,"className":"","clearable":false,"sendOnClear":false,"icon":"","iconPosition":"left","iconInnerPosition":"inside","x":160,"y":700,"wires":[["d1f3c8b3.9c3b9"]]},{"id":"59d46006e8c6d39b","type":"ui-text-input","z":"cc4fa65c792db7e2","group":"944f240637232c4b","name":"Pitch speed kd","label":"Pitch speed kd","order":8,"width":0,"height":0,"topic":"pitchSpeedKd","topicType":"str","mode":"text","tooltip":"Usually not needed","delay":300,"passthru":true,"sendOnDelay":false,"sendOnBlur":true,"sendOnEnter":true,"className":"","clearable":false,"sendOnClear":false,"icon":"","iconPosition":"left","iconInnerPosition":"inside","x":160,"y":740,"wires":[["d1f3c8b3.9c3b9"]]},{"id":"4d5a3b8e.4c1b3","type":"ui-button","z":"cc4fa65c792db7e2","group":"800d559a9f15602f","name":"Save PID Settings","label":"Save PID Settings","order":1,"width":3,"height":0,"emulateClick":false,"tooltip":"","color":"","bgcolor":"","className":"","icon":"","iconPosition":"left","payload":"","payloadType":"str","topic":"save_pid","topicType":"str","buttonColor":"","textColor":"","iconColor":"","enableClick":true,"enablePointerdown":false,"pointerdownPayload":"","pointerdownPayloadType":"str","enablePointerup":false,"pointerupPayload":"","pointerupPayloadType":"str","x":510,"y":420,"wires":[["e51b9162051b9a96"]]},{"id":"d1f3c8b3.9c3b9","type":"function","z":"cc4fa65c792db7e2","name":"Generate PID Config","func":"// 初始化 PID 参数对象（存储在 context 中，避免全局污染）\ncontext.global.pidParams = context.global.pidParams || {\n    yawAngle: { Kp: 50, Ki: 0, Kd: 0 },\n    yawSpeed: { Kp: 200, Ki: 20, Kd: 0 },\n    pitchAngle: { Kp: 50, Ki: 0, Kd: 0 },\n    pitchSpeed: { Kp: 100, Ki: 20, Kd: 0 }\n};\n\n// 提取 msg.topic 中的参数类型（例如 \"yawAngleKp\" -\u003E [\"yawAngle\", \"Kp\"]）\nconst topicParts = msg.topic.match(/(yaw|pitch)(Angle|Speed)(Kp|Ki|Kd)/i);\nif (topicParts) {\n    const [_, type, mode, param] = topicParts; // 解构匹配结果\n    const key = ${type.toLowerCase()}${mode}; // 例如 \"yawAngle\"\n\n    // 动态更新对应的 PID 参数（如果输入为空，则设置为 '^'）\n    if (context.global.pidParams[key]) {\n        const value = msg.payload.trim(); // 去除前后空格\n        context.global.pidParams[key][param] = (value === \"\") ? \"^\" : parseFloat(value);\n    }\n}\n\n// 生成配置行（处理可能的 '^' 符号）\nconst { yawAngle, yawSpeed, pitchAngle, pitchSpeed } = context.global.pidParams;\n\n// 辅助函数：将值转换为字符串（如果是 '^' 则直接使用，否则转为数字）\nconst formatValue = (val) =\u003E (val === \"^\") ? \"^\" : val;\n\nconst yawAnglePIDLine = 1 0A ${formatValue(yawAngle.Kp)} ${formatValue(yawAngle.Ki)} ${formatValue(yawAngle.Kd)};\nconst yawSpeedPIDLine = 1 0B ${formatValue(yawSpeed.Kp)} ${formatValue(yawSpeed.Ki)} ${formatValue(yawSpeed.Kd)};\nconst pitchAnglePIDLine = 2 0A ${formatValue(pitchAngle.Kp)} ${formatValue(pitchAngle.Ki)} ${formatValue(pitchAngle.Kd)};\nconst pitchSpeedPIDLine = 2 0B ${formatValue(pitchSpeed.Kp)} ${formatValue(pitchSpeed.Ki)} ${formatValue(pitchSpeed.Kd)};\n\n// 合并为多行字符串\nmsg.payload = [\n    yawAnglePIDLine,\n    yawSpeedPIDLine,\n    pitchAnglePIDLine,\n    pitchSpeedPIDLine\n].join(\"\\n\");\n\nreturn msg;","outputs":1,"timeout":"","noerr":0,"initialize":"","finalize":"","libs":[],"x":500,"y":340,"wires":[[]]},{"id":"a1b2c3d4.5678e9","type":"file","z":"cc4fa65c792db7e2","name":"Save PID Config","filename":"/home/recamera/.gimbal_pid","filenameType":"str","appendNewline":true,"createDir":true,"overwriteFile":"true","encoding":"utf8","x":1080,"y":420,"wires":[[]]},{"id":"e51b9162051b9a96","type":"function","z":"cc4fa65c792db7e2","name":"Send PID Config","func":"// 生成配置行\nconst { yawAngle, yawSpeed, pitchAngle, pitchSpeed } = context.global.pidParams;\n// 生成四行配置\nconst yawAnglePIDLine = 1 0A ${yawAngle.Kp} ${yawAngle.Ki} ${yawAngle.Kd};\nconst yawSpeedPIDLine = 1 0B ${yawSpeed.Kp} ${yawSpeed.Ki} ${yawSpeed.Kd};\nconst pitchAnglePIDLine = 2 0A ${pitchAngle.Kp} ${pitchAngle.Ki} ${pitchAngle.Kd};\nconst pitchSpeedPIDLine = 2 0B ${pitchSpeed.Kp} ${pitchSpeed.Ki} ${pitchSpeed.Kd};\n\n// 合并为多行字符串\nmsg.payload = [\n    yawAnglePIDLine,\n    yawSpeedPIDLine,\n    pitchAnglePIDLine,\n    pitchSpeedPIDLine\n].join(\"\\n\"); // 用换行符连接\n\nreturn msg;","outputs":1,"timeout":0,"noerr":0,"initialize":"","finalize":"","libs":[],"x":830,"y":420,"wires":[["a1b2c3d4.5678e9"]]},{"id":"63a60476f1f25797","type":"ui-text","z":"cc4fa65c792db7e2","group":"eb68b89500627338","order":1,"width":0,"height":0,"name":"Yaw Angle Recommend PID","label":"Angle PID Recommended: Kp = 50; Ki = 0; Kd = 0","format":"{{msg.payload}}","layout":"row-spread","style":false,"font":"","fontSize":16,"color":"#717171","wrapText":false,"className":"","x":200,"y":40,"wires":[]},{"id":"6e6a453706f099be","type":"ui-text","z":"cc4fa65c792db7e2","group":"eb68b89500627338","order":5,"width":0,"height":0,"name":"Yaw 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Cuándo Ajustar PID

Si las piezas impresas en 3D de tu gimbal están experimentando mayor fricción, los motores pueden tener dificultades para moverse como se espera. En tales casos, puedes mejorar el rendimiento del motor:

• Aumentando los valores P e I en la sección Speed PID para aplicar una corrección más fuerte.

• Usualmente, el valor D se deja en 0 y no necesita ajuste a menos que estés manejando problemas de sobreimpulso u oscilación.

Línea de Comandos: Ajustando PID vía Terminal

Además de la interfaz del panel de control, también puedes ajustar o recuperar configuraciones PID usando comandos de terminal.

Recuperando Configuraciones PID Actuales

Para verificar los valores PID actuales para un motor específico y modo de control, usa el siguiente comando:

gimbal pid <id> <a|s>

<id>: ID del Motor

1 = Eje Yaw

2 = Eje Pitch

<a|s>: Tipo de Control

a = PID de Ángulo

s = PID de Velocidad

Ejemplo:

gimbal pid 1 a

Este comando recupera la configuración PID del ángulo para el eje de guiñada.

Configuración de Valores PID

Para actualizar los parámetros PID, usa:

gimbal pid <id> <a|s> <Kp> [Ki] [Kd]

<Kp> es requerido. [Ki] y [Kd] son opcionales.

Si quieres mantener el valor actual para Ki o Kd, usa ^ como marcador de posición.

Rango para cada parámetro: 0–2000

Ejemplos:

gimbal pid 1 a 100 0 0

Establece el PID del ángulo del eje de guiñada a: Kp = 100, Ki = 0, Kd = 0

gimbal pid 2 s 100 ^ ^

Establece la velocidad del eje de cabeceo PID a: Kp = 100 manteniendo los valores Ki y Kd existentes sin cambios.

Ruta del archivo de parámetros

La configuración PID se almacena en:

/home/recamera/.gimbal_pid

Ten cuidado al actualizar los valores PID a través del terminal. Configuraciones incorrectas pueden llevar a inestabilidad o posibles daños al hardware.