> DC servo motor with encoder like feedback (it has a resolver adn resolver to
> quadrature converter card).
> Well, I would really like a tuning component that compensates for friction.
> P,I,D are not quite it.
>
> I already tuned P to be quite high, almost as high as possible but still
> without oscillation.
Are you talking about a constant friction or somethingmore like
sticktion
where the initia zero-velocity friction is much higher than the
constant-
velocity friction?
What does your step-response look like for a fairly long step with
your current tuning? (fairly-long being long enough to get things
up-to-speed.)
PD should be able to do it for you if everything else is sized
appropriately.
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