> 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.
Yes in fron of PID, ideally in trajectory planner. I expect a limit3 could describe rather well what an electric motor ideally is able to follow though a limit4 with variable limits would be perfect, then is of course then imperfections is and how good control loop is so I would guess limit3 is rather good. Nicklas SB Karlsson _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
