Good you got it working. I still dont understand why your pid has 0 Pgain. That's more or less your basic starting point for a pid
On Fri, Jan 17, 2020, 7:25 AM Aurelien <golfop...@gmail.com> wrote: > Hello > > Firstly another time many thanks for your help ! > > Yesterday the kbmg was delivered after so much waiting and i'm really > happy (with your help) now the motor run again and i have now both > direction !!! > > Finally i have do some little change in the proposed config like use more > pwm scale (140) and allow more max_output (60) with a offset 64 (~DAC at > 0rpm). and added a limit2 component on the pid.command, the result seems to > be good : asked RPM can't be more than 3300 for pid input, and pid is able > to deliver more power for compensation. (in other way ask rpm higher than > max_output saturate the pid) > I can reach the max rpm with some DAC output near +-8.5v. > > I need to study PID now because is really not perfect (maybee too slow) > for now with these default settings > P = 0 > I = 1.0 > D = 0.0 > FF0 = 1.0 > FF1 = 0.0 > FF2 = 0.0 > BIAS = 0.0 > DEADBAND = 0.0 > > > I have play a little with deadband, bias, FF0, I without big success. > > from linuxcnc forum PCW user says : > >> For the normal spindle in velocity mode I would use only FF0 and P and I, >> and only add I when you are quite close to correct velocity following. >> (FF0 only is pure open loop voltage mode with a PWM driven servo motor) >> So for this mode I would get the spindle speed as accurate as possible >> over the >> full speed range with just FF0 and then add feedback with some P (as much >> as it >> stable) and then some I >> >> For position mode you use As much D&P (more D allows more P) as is stable >> then >> adjust FF1 for minimum following error vs velocity. Then finally add as >> much I as is stable > > > > https://forum.linuxcnc.org/10-advanced-configuration/36891-need-help-adding-pid-to-advanced-spindle-config > > Maybee try to use http://www.linuxcnc.org/docs/html/man/man9/at_pid.9.html > or Ziegler-Nichols method > > One things i'm unsure it is better to tune the kbmg firstly as best as > possible with original potentiometer ? > > IMH with PID and limit2 component including max_accel i need to set the > drive as : > --maximum or near value for Max Facc Racc > --default value or lower for FWD-CL REV-CL > --tune value DB with enable closed and 0rpm ~0v DAC > --tune as best IR-Comp RESP > > Br > > -- > website: http://www.machinekit.io blog: http://blog.machinekit.io github: > https://github.com/machinekit > --- > You received this message because you are subscribed to the Google Groups > "Machinekit" group. > To unsubscribe from this group and stop receiving emails from it, send an > email to machinekit+unsubscr...@googlegroups.com. > To view this discussion on the web visit > https://groups.google.com/d/msgid/machinekit/4f07a30d-673e-4a9f-ade1-af3263322414%40googlegroups.com > <https://groups.google.com/d/msgid/machinekit/4f07a30d-673e-4a9f-ade1-af3263322414%40googlegroups.com?utm_medium=email&utm_source=footer> > . > -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to machinekit+unsubscr...@googlegroups.com. To view this discussion on the web visit https://groups.google.com/d/msgid/machinekit/CA%2BQ02MNsb4UJH7c22d0e3-hbLoN_6xG74S7mbg0LL71xkcLw%2BQ%40mail.gmail.com.
