MBL1330N in Closed loop Speed Mode.

5 years 7 months ago #29530261 by ateequeFox
Hi, I got my MBL1330N recently. I want to use two MBL 1330N controllers for driving a AGV with differential drives.
This require that the controller should be in closed loop with speed mode. But when i am running the motor at say 500 rpm its actually running at 610 rpm. I want the controller should take care of this if its in closed loop. I had given a speed feedback from a analog input to controller. Need help in properly parameterizing the controller according to my application.

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5 years 7 months ago #29530265 by TechSupport
In speed mode, you can give it an actual speed command by sending the following.

!S 500. If you are using the hall sensors as your feedback, make sure that the pole pairs are set to the correct value.
The following user(s) said Thank You: ateequeFox

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5 years 6 months ago #29530496 by ateequeFox
The pole pairs are correctly set. I am getting a decent control while in noload condition. But when putting it onload and adjusting the PID parameters, the actual speed is not reaching the commanded value. Its starts oscillating while stopping.
I had tried to change the acceleration deceleration values but in vein. So kindly suggest some ways to Tune the PID.

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5 years 6 months ago #29530499 by TechSupport
For speed mode, start with the following values.

P = 0
I = 2
D = 0

You increase the I gain as needed until it gets as close as it can to the desired speed. Then add D gain if needed to get the extra boost from change over in command.

Add very small amounts of P gain as needed to get to desired speed( use decimal numbers).

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5 years 5 months ago #29530502 by ateequeFox
I had adjusted the PID parameters with the suggested method only.
But I think as the two motors are driving two different wheels on the same vehicle they are getting mechanically coupled(not physical mechanical coupling). So the changes in one motor will effect the other one.
Kindly suggest some method to drive two motors without these issues.

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