Velocity PID
Velocity PID controller calculates velocity error based on target velocity (set by user) and estimated
velocity read from the encoder. Its output is a torque command for the internal current/torque controller.
The parameters of the controller are:
●
Velocity Target (in [rad/s])
●
kP (proportional gain)
●
kI (integral gain)
●
kD (derivative gain)
●
I windup (maximal output of an integral part in[Nm])
●
Max output (in [Nm])
Position PID
Position PID mode is the most common controller mode used in industrial servo applications. In MD80, it is
implemented as a
cascaded PID controller
. This means that the controller is working in two stages, firstly
the position error is calculated, it is then passed to the Position PID, which outputs target velocity. This value
is then passed as an input to the Velocity PID controller, which outputs commanded torque. This mode uses
both Position PID and Velocity PID and thus needs the following parameters:
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