Speed control
- amoreira
- Topic Author
7 years 11 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?
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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7 years 11 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?
What are your PID gain values set to?
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- amoreira
- Topic Author
7 years 11 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.
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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7 years 11 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.
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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