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controlgains [2019/05/28 15:25]
jfduval
controlgains [2019/10/07 15:48] (current)
jfduval
Line 14: Line 14:
  
   * kp: 20 - 200. Higher tends to be better.   * kp: 20 - 200. Higher tends to be better.
-  * ki: 0 - 20+  * ki: 0 - 3000
   * Recently used combos at Dephy: [50, 3] for benchtop experiments,​ [200, 0] for applications.   * 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.
 +  * [[actpackplan|Visual demonstration available here]] (bottom of the page)
 +
 +
controlgains.1559057110.txt.gz ยท Last modified: 2019/05/28 15:25 by jfduval