Guru
Joined: 07/11/2023
Location: United KingdomPosts: 1893
| Posted: 06:28pm 17 Sep 2024 |
Can't test atm but to give an idea:
I have:
Full PID
Offset (DAC bias)
Integrator limit
Feedforward
Velocity calc
Velocity profiler (accel, slew, decel)
All happening ~400 usec
No PWM writing (dog slow)
How do we compare?
Incidentally, I disagree with pretty much everyone who claims to be experienced in this field.
The I term has no business being deployed during motion; feed forward does a much better job of keeping following error to a minimum.
The I term should be deployed at ~steady state to eliminate any remaining error.