Scaling of PID Gains

6 years 5 months ago #29529181 by jleichty
I'm trying to tune my motor (BLY34 from Anaheim Automation) for Closed Loop Count Position Mode on a MBL1330N. I'm able to get a stable controller, but it seems like I don't have much granularity on my gain adjustment because my encoder is quite high resolution (2000 cpr, so 8000qcpr on the controller). Without any I or D terms, the controller starts to oscillate at KP=0.3 which is the third lowest value available.

Am I missing a parameter that would allow me to scale these terms better to allow more flexibility?

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6 years 5 months ago #29529186 by jleichty
Replied by jleichty on topic Scaling of PID Gains
Still curious to see if there is a way to scale the gains better to my encoder. In Section 9 on Closed Loop Relative and Tracking Position Modes (page 100) there is a formula relating the applied power and the P term (the page is also referred to in Section 10 on Closed Loop Count Position Mode which is what I am using). Is this also what applies in Count Position Mode? Is there a way to scale the counts similar to how the position is scaled in the Section 9 modes from -1000 to 1000? Thanks.

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6 years 5 months ago #29529215 by jleichty
Replied by jleichty on topic Scaling of PID Gains
Another bump -- still curious for an answer. I am able to get my controller working with KP = 0.2, but the ?F feedback still gets to be quite large, wondering if there's any way to get a better scale for the PID parameters in Count Position Mode. Thanks.

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