Quote:
Originally Posted by wildaburk3160
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My first impression is that your proportional gain is very high, which is likely to result in lots of overshoot and oscillation. My second impression is that your integral time is very short, which is likely to result in lots of overshoot and oscillation.
Start by setting the gain very low and the times to zero (which will disable the integral and derivative terms). Put the appropriate load on the motor and start increasing the gain until it becomes unstable, then back the gain down again. If you don't get to the set point in a reasonable amount of time, set the integral time to a value slightly longer than you think it should take to get to the set point, and tweak it from there. You might be able to ignore the derivative term completely.