4.2.1.3 Parameter Tuning Guide for Position
Controller with Cascaded Structure
4.2.1.3.1 Introduction
In this document, the basic steps of tuning PID position controller with cascaded structure are explained. As
shown in Fig. 1, the cascaded structure is basically made of two controlling loops. The inner controlling loop is
responsible for controlling the velocity while the outer controlling loop is responsible for controlling the
position.
Fig. 1: Cascaded position control structure
Measuring units of gains of position controller are:
k [rpm/ticks]
k [rpm/ticks*s]
k [rpm*s/ticks]
Measuring units of gains of velocity controller are:
k [mNm/rpm]
k [mNm/rpm*s]
k [mNm*s/rpm]
P
I
D
P
I
D
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