Anders Wallin wrote: > 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: Really, just more gain should help this. The inverse deadband just makes it more jittery, I'd think. > 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? If your encoders have sufficient resolution, you should be able to do a lot better. I get down to about 5 encoder counts of peak error when accelerating to 60 IPM or so on my mini-mill.
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