Quote:
Originally Posted by Thad House
So how do you guys tune the p and the jerk gains? I've always wondered if there is a good way to tune loops without just guessing and checking. And even then I don't really have a good idea on where to even start with the guesses.
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Oops, I lied. We don't apply jerk to the control output.
We find the position controller gains (we have I and D terms coded in, but we ended using 0 as a gain for those) by plotting the position setpoint and measured position over time. The setpoint moves and you can watch how closely the sensor is catching up to it. If it's slow, up the gain until it starts to overshoot. Then back it off a little. For this application, close enough is fine.