[Bryce2471]

Originally Posted by Oblarg

So, here's a graph of our flywheel velocity error (units in RPS) versus time during a shooting test. The negative spikes are slowdown while the flywheel is in contact with the ball. The velocity setpoint was 50 RPS.



As we can see, consistent with the above discussion, there is steady-state error, but it is very small.

We are wondering if teams bother to introduce any integral gain to eliminate the steady-state error, and if this performance is consistent with what other people have seen using similar methods.

Great data. Thanks for that contribution. I have a couple questions:
How long did you wait between shots?
How much was the steady state error effected when you changed the set point.
How much time, or how many iterations did you spend tuning the Kf value? How about Kp?

Thanks again.