On Monday 30 October 2017 15:26:06 Chris Albertson wrote: > From what I know of control theory you are right. You will not find a > set of gains that work for both gear ratios. The gears are doing > their job and changing the apparent momentum of the spindle and > available motor torque by quite a lot. > > I think you will need an input to the controller to tell it which gear > is in use. > > You WILL need to find two independent solutions. > I was afraid of that :)
> Either solve in each case analytically, implement an "auto tune" > routine or you can do it by experiment but that takes a long time > > If it oscillates the P gain is high. Usually they say to rain P until > it starts to oscillate then back off 10% or so and then increase "I" > slowly. > > This article is pretty good intro to PIDs. See the part where he > talks about "windup" which I guess is why you motor was slow. (one > thing, his "next arrows are tiny, took me a while to find them) > http://brettbeauregard.com/blog/2011/04/improving-the- > beginners-pid-introduction/ > Thats decent. > Good tuning advice here > https://en.wikipedia.org/wiki/PID_controller#Loop_tuning While this seems to cover it all. Thank you. Unforch, I undertook to move the soft start of the spindles power supply to the other, P2 socket on the 5i25, and it appears something has gone aglay with the other bob, and its a different type, but those outputs have never been used. So I either have a bad bob, or ??? But that circuits description is a chapter in a great American novel, so I'll make a separate post. Thank you Chris. Cheers, Gene Heskett -- "There are four boxes to be used in defense of liberty: soap, ballot, jury, and ammo. Please use in that order." -Ed Howdershelt (Author) Genes Web page <http://geneslinuxbox.net:6309/gene> ------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, Slashdot.org! http://sdm.link/slashdot _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
