On Tuesday 31 October 2017 08:32:55 Peter C. Wallace wrote:
> I think you may be missing the forest for the trees here
>
> The type of PID loop is critically important to what are the important
> PID parameters to tune and proper feed forward order. If you dont get
> this right you will be going in circles...
>
> zeroth order eg spindle velocity loop with velocity mode drive
> Main tuning parameter = I
> feedforward = FF0
>
> first order eg position loop with velocity mode drive
> Main tuning parameter = P
> feedforward = FF1
>
> second order eg position loop with torque mode drive
> main tuning parameter = D
> feedforward = FF2
>
And that boils it down to the basics Peter, and there's nothing even
remotely resembling that in the wiki. John T's tutorials, once found,
can be helpfull, but the different classifications for operating modes
isn't obviously there.
Thank you Peter. Printed.
> Peter Wallace
> Mesa Electronics
>
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