Designing Spindle PID

Thanks for this response, it pointed me in the right direction. I tried to make a mechanical model of the system, but it was wildly inaccurate (need more experience doing this). From there I started researching tuning methods and found the Ziegler-Nichols method. Super easy to use, and helped me accurately model my system transfer function. I just wanted to say thanks because it got me thinking about the problem in the right way.

Attached are my machine files. Next post will have my completed report. Any feedback would be greatly appreciated!

This is my report for class so far. There are probably some typos and formatting errors in it still, but the general method I ended up using is all there. I hope that this can help others work through PID issues. I am just learning control theory, so it was a steep learning curve. There is a big difference from solving engineering problems in a book, and actually applying it in person. Thanks for all the help guys, I appreciate it.

Edit: Uploaded better formatted report.

They do have style guidelines. I am just trying to get this all together before break is over. Thanks for pointing that out though, I know that it still needs some refinement but I will get to that after the other two projects and assignments that I have to finish before I return from break.

Edit: It was eating at me so I went ahead and reformatted the report a little better and updated that post.

One more question, I designed a quick test With a dull old end mill and ran a pretty aggressive HSM adaptive clearing path. I did some hal scope analysis, and caught this wave form right as it entered the corner of a pocket. It is a decent disturbance, but I wanted to see what others thought about the controller response.

It overshoots by about 200RPM above, might be due to it entering the corner and the spindle spools up as it exits causing the overshoot. Otherwise It was not too bad. Thoughts on the controller response?