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XPS-Q8 Controller
Methodology of Tuning PID's for PIDFFAcceleration Corrector (direct drive DC
14.3.2.3
motors)
1. Verify the AccelerationFeedForward in open loop (adjustment done using
ScalingAcceleration).
Close the loop, set Kd, increase it to minimize following errors until vibrations
appear during motion.
2. Decrease Kd to eliminate oscillations.
3. Set Kp, increase it to minimize following errors until the appearance of oscillations,
decrease it to eliminate oscillations.
4. Set Ki, increase it to limit static errors and settling time until the appearance of
overshoot/oscillations.
To set the corrector parameters (loop type, Ki, Kp, Kd,...), use the following
functions (refer to Programmer's Manual for details):
• CorrectorType = PIDFFVelocity : PositionerCorrectorPIDFFVelocitySet(...)
• CorrectorType = PIDFFAcceleration:
PositionerCorrectorPIDFFAccelerationSet(...)
• CorrectorType = PIDDualFFVoltage:
PositionerCorrectorPIDDualFFVoltageSet(...)
• CorrectorType = PIPosition: PositionerCorrectorPIPositionSet(...)"
Note
181
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
Motion Tutorial
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