On 05/06/2020 09:20 PM, Dan Henderson wrote:
I’ve confirmed the fluctuation occurs when spindle-at-speed is configured.
When I remove this feature, the spindle rpm appears to stabilize. It’s
almost like it gets caught in a loop trying to chase its tail.
This is VERY common in servo systems, and is due to delay in
response of the object being controlled.
You need to slow down the response of the PID to ignore the
delay. This may be possible by adding
D to it.
Jon
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