# Help with PID loop

**URL:** <https://forums.kinograph.cc/t/help-with-pid-loop/1682>\
**Category:** Uncategorized\
**Created:** [March 17, 2020, 12:37pm UTC](https://forums.kinograph.cc/t/help-with-pid-loop/1682 "2020-03-17T12:37:53Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![matthewepler](https://forums.kinograph.cc/user_avatar/forums.kinograph.cc/matthewepler/32/919_2.png) [@matthewepler](https://forums.kinograph.cc/u/matthewepler)\
**Post date:** [March 17, 2020, 12:37pm UTC](https://forums.kinograph.cc/t/help-with-pid-loop/1682/1 "2020-03-17T12:37:53Z")

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Hi all,

I have a bouncy PID loop as you will see in this video. Any suggestions on how to tune it?

I’m also considering swapping these brush motors out with torque motors which I suspect are better suited for the task. Any suggestions there are also welcome!

> **[IMG\_0201.MOV](https://drive.google.com/file/d/1Mv05FWn-VM8TOTdeLgvq9bjthCjXd16y/view?usp=drive_open)**
>
> Google Drive file.

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**Author:** ![cpixip](https://forums.kinograph.cc/user_avatar/forums.kinograph.cc/cpixip/32/852_2.png) [@cpixip](https://forums.kinograph.cc/u/cpixip)\
**Post date:** [March 17, 2020, 8:13pm UTC](https://forums.kinograph.cc/t/help-with-pid-loop/1682/2 "2020-03-17T20:13:18Z")

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@matthewepler - I don’t know whether this helps: this website: [The Basics of Tuning PID Loops](https://www.crossco.com/blog/basics-tuning-pid-loops/) has some basic tips, specifically the “Initial Loop Tuning”-section and the following ones.

I usually start with a rather small P value and gradually increase it just to the point where is starts to oscillate. Than I reduce the value a little bit. I rarely bother with setting the I-value (ie leave it zero), and I basically never touch the D-value (ie, it’s also zero). There is this saying “D is for danger”. Certainly not the optimal approach, but I normally get something useable. Of course, it is no longer a real PID-controller… 🙂

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**Author:** ![Matteo\_Ricchetti](https://forums.kinograph.cc/user_avatar/forums.kinograph.cc/matteo_ricchetti/32/738_2.png) [@Matteo\_Ricchetti](https://forums.kinograph.cc/u/Matteo_Ricchetti)\
**Post date:** [March 18, 2020, 2:00pm UTC](https://forums.kinograph.cc/t/help-with-pid-loop/1682/3 "2020-03-18T14:00:15Z")

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lower P increase I (even the loop time can be too high as the global response is low, of course lower the P I value can be enough if you have resolution enough)

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**Author:** ![matthewepler](https://forums.kinograph.cc/user_avatar/forums.kinograph.cc/matthewepler/32/919_2.png) [@matthewepler](https://forums.kinograph.cc/u/matthewepler)\
**Post date:** [March 22, 2020, 9:36pm UTC](https://forums.kinograph.cc/t/help-with-pid-loop/1682/4 "2020-03-22T21:36:15Z")

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@cpixip and @Matteo_Ricchetti your suggestions both helped! The contractor has reported a nice smooth action on the hub now. Many thanks for your assists!

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**Author:** ![Matteo\_Ricchetti](https://forums.kinograph.cc/user_avatar/forums.kinograph.cc/matteo_ricchetti/32/738_2.png) [@Matteo\_Ricchetti](https://forums.kinograph.cc/u/Matteo_Ricchetti)\
**Post date:** [March 22, 2020, 11:06pm UTC](https://forums.kinograph.cc/t/help-with-pid-loop/1682/5 "2020-03-22T23:06:53Z")

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happy to know that 🙂