Parker Hannifin
Chapter 5 Tuning - 59 -
1. As a starting point, the PGAIN is set to 0.0003; no DGAIN is set at this
time. The following figure shows that the motor is under responsive.
2. The PGAIN is increased to 0.0005 to increase the response. As the next
figure illustrates, the motor response increased significantly, the motor is
under-damped. Before continuing with adjusting the motor response, it
is important to compensate for the under-damping by adding DGAIN.
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