On Thursday 23 July 2020 07:53:45 andy pugh wrote:

> On Thu, 23 Jul 2020 at 12:47, Nicklas SB Karlsson
>
> <nicklas.karlsso...@gmail.com> wrote:
> > > I wonder what effect could be had by rate-limiting the PID output
> > > to the motors?
> >
> > Integrator should ideally have anti-windup.
>
> Anti-windup is a little different.
>
> I was actually thinking about experimenting with a limit3 HAL
> component between the PID and the PWM.

But that s/b bypassable for rigid tapping as it will increase the 
following error. Put it in front of the PID. I use it there to profile 
the spindle turnaround rates to something the Z can follow w/o throwing 
a Z following error.  Its more complex than that in the hal file, but 
thats the general idea. And I've not had good results while driving a 
vfd. Needs more thought there but a 40 lb chuck's inertia overrules most 
of my efforts.  The PMDC motors respond much better to that sort of 
control massaging.  Faster is the keyword I think. My thinking was that 
of a sine-squared control waveform with the peak accel at zero speed, 
therefore matching a steppers ability to keep up better.

Idea was stolen from one of the old analog tv VITS. That kit of signals 
allowed one to accurately tune a tv transmitter for optimum bandwidth 
while the girls were watching Days of our lives. Or whatever.

Cheers, Gene Heskett
-- 
"There are four boxes to be used in defense of liberty:
 soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author)
If we desire respect for the law, we must first make the law respectable.
 - Louis D. Brandeis
Genes Web page <http://geneslinuxbox.net:6309/gene>


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