SOLO BETA User Manual
Section 4 and 5_ Speed Controller Kp and Ki :
These are two potentiometers, defining the speed controller gains in closed-loop mode, You can
increase their values by rotating them in Counter ClockWise direction, subsequently by rotating
them in Clockwise direction their value reduces until they get blocked in that direction which
means a value of ZERO, to work with SOLO, in closed-loop speed mode you need to tune these
two poetntio-meters, their simple definitions can be given as following :
Kp Potentiometer :
This potentiometer defines for you how fast your motor should react and reach the speed you
asked, so if you increase this value, your motor will be more reactive, but too much of this gain
might make vibrations, so you need to tune it enough. Also another effect of this gain will be how
“harshly” the controller ( here SOLO ) should react to the variation of the load on the shaft of the
motor to keep the speed constant. It's not always good to increase this gain randomly, since it
might cause instability and it totally depends on your system.
Ki Potentiometer :
This potentiometer defines how good your motor during time should reach the goal and stay in
steady state, so by increasing this value your motor might reach the goal slower but more
consistently. Also by increasing this gain too much your motor might get unstable. So you need to
tune this similar to Kp with patience and accuracy, to have zero error at steady state this gain must
be anything greater than zero, and zero error in steady state means, the controller reaches to
desired speed and remains there with zero error in theory ( in practice with minimum possible
error)
www.solomotorcontrollers.com
January 2021 - Revision V_1.0.5 Copyright © 2020, All right Reversed. SOLO motor controllers.
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