Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 231 of 909
Tuning and PIDControl
This chapter provides information on the PIDcontrol functionality that has been designed into
the SmartMotor.
Introduction 232
Understanding the PID Control 232
Tuning the PID Control 233
Using F 233
Setting KP 234
Setting KD 234
Setting KI and KL 234
Setting EL=formula 235
Other PID Tuning Parameters 235
KG=formula 235
KV=formula 235
KA=formula 236
Current Limit Control 237
AMPS=formula 237
Part 1: Programming: Tuning and PIDControl
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