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controlgains

Control Gains

Important: the controllers have been reworked in 2018. Their internal dividers have been changed and they now use 10x bigger gains. If you are using old firmware do not try the gains listed below!

The right gains depend on your application and your system. The values listed below are only provided as an example to give you an idea of the range. Use them for 2018+ systems.

Current:

  • kp: 10 - 100
  • ki: 1 - 32
  • Recently used combos at Dephy vary wildly: [20, 10], [100, 1] and [100, 20] for benchtop experiments, [100, 32] for walking controllers.

Position:

  • kp: 20 - 200. Higher tends to be better.
  • ki: 0 - 3000
  • Recently used combos at Dephy: [50, 3] for benchtop experiments, [200, 0] for applications.

Impedance:

  • Underlying current controller: same recommendation as above. kp = 100 & ki = 32 works well.
  • K: with B = 0, on an ActPack powered at 40V with kp = 100 and ki = 32 K can be used up to around 350 before large position changes cause an instability
  • B: with K = 325, B from 0 to 1500 covers from no damping to perfectly damped.
  • K & B values will depend greatly on your application, the values above are simply a starting point.
controlgains.txt · Last modified: 2019/10/07 15:48 by jfduval