Sebastian Kuzminsky 提到: > Howard Chan wrote: > >> I am using 5I20 and 7I33T to control the servo amplifier (SANYO DENKI). >> When the turn on the emc, the DAC output generate a noise. >> >> http://myweb.polyu.edu.hk/~icwfchan/P1.png >> > > I think you have a tuning issue. > > PID controllers operate on error only, when there is no error the PID > controller outputs nothing. I think what you're seeing is this: > > Your axis is off-target a little bit, that is, it has a positioning > error. The PID controller tries to correct, but it overcorrects, > resulting in small-scale oscillation around the target. The magnitude > of this oscillation may even be smaller than the magnitude of your backlash. > > Show us another halscope screenshot, this time with dac-02-value and the > error signal for the PID controller that drives dac-02. > > Also show us your PID tuning parameters for that axis. > > Actually, I dont know how to tuning the PID value. I am searching the old article and found the website http://www.anderswallin.net/tag/pid/ Is it enough or would you mind sharing your experience of PID tuning?
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