Guru
Joined: 07/11/2023
Location: United KingdomPosts: 1893
| Posted: 08:12pm 17 Sep 2024 |
Well it ain't your friend during a motion profile.
I have read countless papers where they specify an I term...did they ever run a motor actually coupled to a drive train?
I highly doubt it.
The proportional term reacts to a difference between command and actual and so, naturally, there is a lag.
The most effective method of compensating for this is a feed forward term, external to the PID filter.
Unlike the I term, loop stability can never be affected.
Steady state, apply the I term and any residual error is wiped out.
My error is not +1 count or -1 count, it's absolute zero. So geeked
