b. Cut the Pos Kp in half and set Vel Kd to zero.
c. Change Vel Kp until the Velocity errors are minimized. Usually there will be a large
range in which the Velocity errors are somewhat constant; to avoid over gaining the
system, move forward with a value that’s in the middle or on the lower end of this
range.
d. Change Vel Kd in an attempt to further minimize Velocity errors, again favoring lower
gains.
e. Increase Pos Kp until the Position errors start increasing. Lower the gain by 10% to
20% to avoid over gaining the system.
To Next Page
Loading...