2.4.2.5 Position Auto-tuning
The general purpose of the position control loop auto-tuning is to design position controller gains based on
user specifications and the identified model of the set-up. The procedure calculates gains for the cascaded
controller configurations: PI-P, P-PI.
2.4.2.5.1 Prerequisites
Before conducting position auto-tuning check the following:
1. The System Identification has been executed successfully.
2. The obtained model corresponds to the current configuration of the system. Otherwise the identification
procedure should be repeated.
3. If different sensors are used for position and velocity control and there is a gearbox in between, the gear
ratio should be specified.
4. Make sure that the sensors are mounted properly and calibrated.
2.4.2.5.2 Limitations
1. The procedure uses a linear mathematical model of the system. If there are strong nonlinearities there will
be a difference between the actual and the requested performance.
2. The auto-tuning procedures tunes only linear controllers. Non-linear control parts should be tuned
manually for better performance.
3. Hall sensors should not be used for precise position control.
2.4.2.5.3 How to use
1. Select “Controller Configuration” from the menu. Currently, two options are available that have different
behavior:
PI-P configuration (default) focuses on trajectory following. Generally it has a faster response, zero
steady state error for constant and ramp reference inputs. The control loop bandwidth is higher than
the P-PI configuration. However, it tends to overshoot:
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