Verifying and Optimizing the P Gain

 

Step responses with good control performance

 

 

The controller is properly set when the step response is approximately identical to the signal shown. Good control performance is characterized by

oFast transient response

oOvershooting up to a maximum of 40%, 20%.

If the control performance does not correspond to the curve shown, change CTRL_KPn in increments of about 10% and then trigger another step function:

oIf the control is too slow: Use a higher CTRL1_KPn (CTRL2_KPn) value.

oIf the control tends to oscillate: Use a lower CTRL1_KPn (CTRL2_KPn) value.

Oscillation ringing is characterized by continuous acceleration and deceleration of the motor.

Optimizing insufficient velocity controller settings