T
UNING
D-8
In
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o
T
u
n
in
g
P
a
ra
m
et
er
s
When Proportional Gain is Too High
The motor (Actual Position) is able to keep up with the Command Position, but the motor
oscillates and the voltage saturates. Due to the high gain, the output responds very strongly
to any position error. As a result, the output signal saturates.
Figure D-4 Excessive Proportional Gain
Note:
Excessive proportional gain is characterized by oscillation. In some situa-
tions, damping (derivative gain) can be increased to help compensate.
The motor (actual posi-
tion) is keeping up with
the command position,
but the output voltage is
saturated and oscillates.
Less gain is needed.
H
IGH
P
ROPORTIONAL
G
AIN
But output saturates & oscillates
Follows the command position well
Actual Position
Command Position
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