0x2011 Velocity Controller¶
Velocity PID Tuning (objects 2011:1...2011:4)
IMPORTANT: These values are only used in velocity control mode (not in cascaded position control)
Controller Structure
PID Parameter Range
The constants K_p, K_i, and K_d should be between 0 and 10 with the precision of 6-digit floating point. To find the proper values of PID constants of velocity controller the following steps are recommended:
Recommended Tuning Steps
- Step 1. Check if all constants K_p, K_i, and K_d are set to 0. After that activate the velocity controller. By default, the integral limit of velocity controller should be set to the maximum torque of selected motor in [mNm].
- Step 2. Set the reference velocity to 50% of rated motor velocity [rpm].
- Step 3. Increase K_p until the measured speed is around 70% of the reference speed. As a suggestion start with K_p equal to 0.1, and in each step increase K_p with a factor of 2.
- Step 4. From this step forth, step response of the system should be checked. Increase K_i step by step to increase the speed of velocity controller (as a suggestion start with K_i equal to 0.01 and in each step increase it by a factor of 2). At this point, the parameters K_p and K_i of the velocity controller are tuned. The parameter K_d of the velocity controller can be kept at its default value (0).
Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping |
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Controller Kp | 0x2011:1 | REAL | 32 | 0 | 0 | readwrite | |||
The P-gain of the PID Velocity Control Loop [mNm/rpm]. |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping |
Controller Ki | 0x2011:2 | REAL | 32 | 0 | 0 | readwrite | |||
The I-gain of the PID Velocity Control Loop [mNm/(rpm*s)] |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping |
Controller Kd | 0x2011:3 | REAL | 32 | 0 | 0 | readwrite | |||
The D-gain of the PID Velocity Control Loop [rpm*s/inc] |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping |
Controller integral limit | 0x2011:4 | UDINT | 32 | 0 | readwrite | ||||
Integrator limitation for anti-windup. Used for preventing the integral term from accumulating above or below pre-determined bounds. Initially set to MAX (2,147,483,647 --> Integral limit DEACTIVATED), please set the maximal values for your integral limit manually. |
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