![]() If this happens, reduce the D gain until it stops. If you set the D gain too high the system will begin to chatter (vibrate at a higher frequency than the P gain oscillations). If the oscillations grow bigger and bigger then you need to reduce the P gain. Normally moving the mechanism by hand away from the setpoint and letting go is enough. What disturbance you use depends on the mechanism the controller is attached to. Increase the I gain until it brings you to the setpoint with the number of oscillations desired (normally zero but a quicker response can be had if you don't mind a couple oscillations of overshoot).Repeat steps 2 and 3 until increasing the D gain does not stop the oscillations. ![]() Increase the D gain until the the oscillations go away (i.e.Increase the P gain until the response to a disturbance is steady oscillation.For small, low torque motors with little or no gearing, one procedure you can use to get a good baseline tune is to probe it's response to a disturbance. ![]()
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