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TOPIC: PID control tuning

PID control tuning 3 years, 5 months ago #826

  • JT
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Hello there!
Would you, please, help me tune the PID parameters to achieve smooth and stable, quiet movement...
My servo motors is sm34165dt. I'd like to rotate at 900-1200 rotations per minute an object of 2 kg weight. When a set at aprox. 900 rotations/minute at ADT=1, the movement is smooth and quiet until around 400 000 motor units for the velocity. Increasing further the speed would lead to generating of noise that wouldn't stop even when achieving the target speed.
What I tried with the PID parameters until now is:
KP = 100
KI = 0
KD = 0
KL = 32767
KS = 1
KV = 1000
KA = 0
KG = 0
and setting the EL at 8000, since at lower values of the KP the motion is stopped for an excessive position error.
Do you have any suggestions how to solve that?
Thank you much!

Re: PID control tuning 3 years, 5 months ago #827

  • csearcy
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How does it do with default tuning?

Re: PID control tuning 3 years, 5 months ago #828

  • JT
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Producing high noise and vibations of the system...

Re: PID control tuning 3 years, 5 months ago #829

  • csearcy
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Is that with it coupled to the 2kg load? ...or is the motor just on the bench?

Re: PID control tuning 3 years, 5 months ago #830

  • JT
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The load is a disk, mounted on the motor shaft of the motor through a woodruff key . The motor is fixed on the bench in a stable manner, using the four holes present, as in the technical drawing of the producer.

Re: PID control tuning 3 years, 5 months ago #831

  • csearcy
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You have a high inertia load. The load(inertia) being driven should be no more that 10 times the inertia of the motors rotor.
The SM34165DT has the following specifications...
Rotor Inertia 0.0142 oz-in-sec2 ... or 10.031 10-5 Kg-m2

You can possibly change tuning (increase KD by a factor of ~4 as a test ...with other PID variables at default). This may help with the inertia mismatch. The best solution though... would be to add a planetary gearhead to compensate for the mismatch.
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