# How to set up PID values and Effort Limits for Linear actuator mounted on an AGV

**URL:** <https://get-help.theconstruct.ai/t/how-to-set-up-pid-values-and-effort-limits-for-linear-actuator-mounted-on-an-agv/14975>\
**Category:** URDF for Robot Modeling\
**Tags:** ros\_controllers, ros-control, gazebo, howto\
**Created:** [January 25, 2022, 4:48pm UTC](https://get-help.theconstruct.ai/t/how-to-set-up-pid-values-and-effort-limits-for-linear-actuator-mounted-on-an-agv/14975 "2022-01-25T16:48:38Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![patwaririshab](https://get-help.theconstruct.ai/letter_avatar_proxy/v4/letter/p/8e8cbc/32.png) [@patwaririshab](https://get-help.theconstruct.ai/u/patwaririshab)\
**Post date:** [January 25, 2022, 4:48pm UTC](https://get-help.theconstruct.ai/t/how-to-set-up-pid-values-and-effort-limits-for-linear-actuator-mounted-on-an-agv/14975/1 "2022-01-25T16:48:38Z")

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## Background

I have a lead-screw linear actuator mounted vertically on an AGV. It is powered by a Nema 17 stepper motor and moves at a constant speed of 1.5 m/minute (0.025 m/s) when stepper motor speed is set to 600 steps/minute.

## Problem

I was trying to model the linear actuator in URDF for simulation testing in gazebo. However I was struggling to figure out how to simulate the specs above. By tinkering with the PID values, I managed to get roughly the correct speed when the actuator is moving up, however, when moving down, the actuator just seems to fall rapidly in simulation.

The PID values I used were:

P: 7000  
I: 1.0  
D: 10.0

## Image of Robot System and Rqt\_gui Plots

 ![urdf_modelling_linear_actuator](https://get-help.theconstruct.ai/uploads/default/original/2X/3/340d23e81cb58dca5d6341422bcbf9c8fefb46c1.jpeg)