2014-03-25 7:14 GMT-03:00 andy pugh <bodge...@gmail.com>: > You might find that if you add some bias to the PID controller then > you can make the behaviour more symmetrical. Hopefully symetrically > good, not symetrically bad. (you should find you need less P to get it > to move up) >
Hi Andy, I will try that to improve the tuning. So far I just played with P, I and D values and sometimes the FF values but once I got the joint working like this I was kind of comfortable. But I'll be playing with it anytime the machine is not working with parts so I can tune it better. One thing I read about the simple tuning method is that you must set I and D to 0 and then increase P until the output oscillates and then compensate the oscillation with I. My concern is, does the oscillation starts when I increase P? or do I have to disturb the motor to see the oscillation?. Thanks! -- *Leonardo Marsaglia*. ------------------------------------------------------------------------------ Learn Graph Databases - Download FREE O'Reilly Book "Graph Databases" is the definitive new guide to graph databases and their applications. Written by three acclaimed leaders in the field, this first edition is now available. Download your free book today! http://p.sf.net/sfu/13534_NeoTech _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
