Hi All, did some initial PID tuning with a DC servo motor on the bench (no load) today. I'm using Jon Elsons servo amplifiers with a m5i20 (hostmot config with 100MHz clock to enable 50 kHz PWM).
Some hal-scope screenshots here: http://www.anderswallin.net/2008/04/pid-tunig/ (click the pictures for better views) I found the PID-loop to be slightly 'squishy' when twisting the axle by hand from the set-point, so I added an inverse deadband component which cures this problem: http://www.anderswallin.net/2008/04/idb-inverse-deadband-component-for-emc2/ Would be nice to hear from others with the same kind of setup on what tuning methods you use and whether you found 'inverse deadband' to be required. The end result was a FE of +/- 32 encoder counts - would that be typical? Anders ------------------------------------------------------------------------- This SF.net email is sponsored by the 2008 JavaOne(SM) Conference Register now and save $200. Hurry, offer ends at 11:59 p.m., Monday, April 7! Use priority code J8TLD2. http://ad.doubleclick.net/clk;198757673;13503038;p?http://java.sun.com/javaone _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
