How do you design an adaptive PID controller/compensator for a Gimbal System? (taking in angle, accel, torque from reference)

I would like to design an adaptive PID compensator to combat sudden changes in torque/accel of a gimbal system. It utilizes the dynamic model of a gymbal to assess the best-fit PID gains for different scenarios

Answer 1

[Sam Chak]

Hi @Michael Ray Maligro

If you asking how to design PID in MATLAB or Simulink, you need to have the mathematical model of the Gimbal System.

I'm not sure if I understand your meaning of combating the sudden changes in torque or accelecation. I guess they are either the Reference or the Disturbance to the Gimbal System. Without info, we probably cannott give you a proper advice.

At first glance, the so-called adaptive PID may involve authomatically modifying the gains when such there is sudden changes in torque or accelecation occurs. If that is what you are looking for, perhaps the Gain-scheduled PID Compensator is a candidate solution.