PID tuning for LS Mecapion setup with MESA 7i77
- alex.statie
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25 Mar 2020 16:49 - 25 Mar 2020 16:56 #161471
by alex.statie
Replied by alex.statie on topic PID tuning for LS Mecapion setup with MESA 7i77
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Last edit: 25 Mar 2020 16:56 by alex.statie.
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25 Mar 2020 18:21 - 25 Mar 2020 18:22 #161477
by PCW
Replied by PCW on topic PID tuning for LS Mecapion setup with MESA 7i77
OK one thing that needs improvement is the drives response to the velocity command.
If there are any filters in the velocity command path they should be set to their minimum time constants.
The encoder feedback indicates that the drive is not very good at generating the simulated encoder
signal (you can see obvious frequency quantization in the encoder velocity feedback) This will limit
your maximum P term but might be improved at a higher resolution simulated encoder output.
Note that you should be able to do very well with a low P term if the drive is tuned
well and there are no large delays or filters in the velocity command path, that is the
velocity command should get you 99% of the way there
If there are any filters in the velocity command path they should be set to their minimum time constants.
The encoder feedback indicates that the drive is not very good at generating the simulated encoder
signal (you can see obvious frequency quantization in the encoder velocity feedback) This will limit
your maximum P term but might be improved at a higher resolution simulated encoder output.
Note that you should be able to do very well with a low P term if the drive is tuned
well and there are no large delays or filters in the velocity command path, that is the
velocity command should get you 99% of the way there
Last edit: 25 Mar 2020 18:22 by PCW.
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