> What do you mean by step-response, sorry.
It's a set of data showing how your system responded
when you changed the target by "a step".
> I am OK, right now my following error is something like
> 2-3 minutes of arc
2-3 minutes of arc tell me you're controlling something
rotating and "following error" implies you are trying to
control the speed of the rotating thing rather than the
position of the thing. Is that right so far?
You can calculate how much "command" is coming out of your
control loop by figuring out how large 2-3 minutes is
in whatever units your control loop is operating in and
multiplying by your proportional constand and converting
into whatever units your motor drivers use.
So, if 2-3 minutes is 100 encoder counts (Around a million
counts per revolution on your output device) and your proportional
constant is 10, then you'll have 1,000 units of "output"
That might be 2 Volts, or a 75% duty-cycle PWM output depending
on how your motor is controlled.
(I bet you know ALL this already, but I'm not familiar with
your issues, so please excuse me if I explain too much. I'm
not assuming I'm any smarter than you at all.)
After all that, it would be great to know if you are driving your
motors at 20% or 99% of the hardest you can drive them just to
see if tuning is even going t make any difference at all.
I love this kind of stuff.
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