Ralph Stirling wrote: > I have my prototype linear motor running now, but I'm > observing a rather severe resonance under higher > accelerations. This oscillation is about 10Hz, and > generates following errors if I don't have wide limits > on f-error. I've attached a halscope plot illustrating > the problem. You can see a video of my motor > running a simple test program at: > http://youtu.be/Ayqn0OidF0Q > > Right now I have my pid parameters set pretty > basic: > > P = 5.0 > I = 0.0 > D = 0.0 > Well, you might try some D, although you will need to make it VERY small due to the low P term. Maybe start with 0.01 and work up. But, 10 Hz sounds like a mechanical resonance, due to softness of the motor/drive combination. Possibly higher P would help to tighten the response and raise the resonance.
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