Speed control

5 years 2 months ago #29530911 by amoreira
Speed control was created by amoreira
I am using a SDC2130 controller.
Some times, when I send by RS232 a zero reference speed to the controller, the motor don't stops and continues moving at very low speed.
Can you help me please?

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5 years 2 months ago #29530912 by TechSupport
Replied by TechSupport on topic Speed control
It sounds like the PID is not tuned or something else.

What are your PID gain values set to?

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5 years 2 months ago #29530913 by amoreira
Replied by amoreira on topic Speed control
The PID parameters are:

P = 0.5
I = 0.3
D = 0

Do you know in what units are de integral part (I) and the derivative part (D)?
As I know from Control Theory if the system is stable (it is stable!) and you have integral action you must have zero steady state error to a constant reference.

Attached you can see the configuration file.

Thank you.

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5 years 2 months ago #29530914 by TechSupport
Replied by TechSupport on topic Speed control
In speed mode, the I gain is what is primarily used. The D gain is what is the reactive part of the PID system; the extra bosst in the change over in command.

Start with the following:

P = 0
I = 1
D = 0

Loop error detection disabled. Add I gain as needed to get close to speed without oscillations. Then add any D gain for the additional boost in command change in speed. Add very small amounts of the P gain to help get to speed.

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