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Author: Admin | 2025-04-28
Bit at the end of the maneuver. Additionally, back-driving the wheel is very difficult as the motor-response is immediate (good).Once settles, the motor is back-driven to assess how firm the motor holds position.The wheel is held by the motor firmly.Dialing kDTo resolve the overshoot at the end of the maneuver, D-gain is added. D-gain can start typically at 10 X P-gain.With this change the visual overshoot of the wheel is gone. The plots also reveal reduced overshoot at the end of the maneuver.Dialing kITypically, the final step is to confirm the sensor settles very close to the target position. If the final closed-loop error is not quite close enough to zero, consider adding I-gain and I-zone to ensure the Closed-Loop Error ultimately lands at zero (or close enough).In testing the closed-loop error settles around 20 units, so we’ll set the Izone to 50 units (large enough to cover the typical error), and start the I-gain at something small (0.001).Keep doubling I-gain until the error reliably settles to zero.With some tweaking, we find an I-gain that ensures maneuver settles with an error of 0.If using Motion Magic, the acceleration and cruise-velocity can be modified to hasten/dampen the maneuver as the application requires.Auxiliary Closed Loop PID[1] WalkthroughThe auxiliary closed loop can be used to provide a differential output component to a multi motor controller system. See Auxiliary Closed Loop PID[1] for an explanation of the Auxiliary Closed Loop feature - below is a step-by-step walkthrough.TipBe sure to look at the examples that
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