2012: Tuning the Jaguar's Speed Control PID Loop

[mjcoss]

It's a bit erratic and it may well be just noise. I played a little more with it tonight, and feel like it is stable enough. One thing that I meant to mention, and was a bit surprised by was that the Get[() function on the Jaguars just return the set point, not the current speed. We have the encoder signal split, going to the digital side card, and I've been using the digital side card encoder to track the performance of the speed control.

I expected that the Jaguar would have reported the current speed, not the set point. I played some with the D term but got nothing useful.

---Michael J Coss

Originally Posted by Mr. Lim

I have not been able to get the Jaguar's D term (to give me any useful kind of system response when in Speed control.

Is your system oscillating with a regular period at the high RPMs? Or is it behaving erratically?

If the latter, you might just be getting a lot of noise on your encoder signal. You will run into problems if you are running your encoder wires beside your motor power wires.