OnRobot VGC10, Руководство пользователя, Страница: 81 / 213

Operation
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I gain F : The force controller can be tuned with this integral gain parameter. If any overshoots or vibrations
occur, try lowering the gain value.
I gain T : The torque controller can be tuned with this integral gain parameter. If any overshoots or
vibrations occur, try lowering the gain value.
D gain F : The force controller can be tuned with this derivative gain parameter. If any overshoots or
vibrations occur, try lowering the gain value.
D gain T : The torque controller can be tuned with this derivative gain parameter. If any overshoots or
vibrations occur, try lowering the gain value.
This command has no return value.
Guidelines to PID force/torque controller settings:
The PID force/torque controller continuously calculates the error value for the force/torque measured by
the sensor, compared to the values set by the
F/T Control
command, and applies correction based on
this error.
P gain F and P gain T : The proportional term produces a correction that is proportional to the current
error value. Increasing this parameter, has the following effects: faster reaction, overreaction, lower error,
stability degradation.
I gain F and I gain T : The integral term produces a correction that is proportional to both, the magnitude,
and duration of the past error values. Increasing this parameter, has the following effects: faster reaction,
overreaction, lower error, stability degradation.
D gain F and D gain T : The derivative term produces a correction that is proportional to the slope or
changing speed of past error values. Increasing this parameter, has the following effects: less
overreaction, stability increase.
If the force control is too slow, that is, the tool occasionally leaves the surface instead of continually
touching it, try increasing the
P gain F, P gain T, I gain F and I gain T values.