Parker Hannifin
Chapter 5 Tuning - 63 -
8. The PGAIN is increased to 0.02, and you can see better response from
the motor. But there is still some oscillation from the motor, so increase
the damping.
9. With DGAIN increased to 0.00015, the chattering is significantly
reduced—both motor response and damping look good.
With a load attached, the motor is now fast and stable; no more tuning is
necessary.
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