When tuning Active Damping or Acceleration Control, use the basic instructions in the Tuning a Position Axis topic, but use the order of the gains below.
If you are tuning a pneumatic cylinder, see the Tuning a Pneumatic System topic.
Tuning Order
Systems with High Damping
For system with high damping, you can follow the procedure for Tuning a Position Axis, then set the higher-order gains.
High damping means that the system does not oscillate and stops very quickly as soon as 0 volts is applied.
Systems with Low Damping
For system with low damping, you will need to set the higher-order gains earlier in the tuning procedure to gain any control at all. The higher order gains will provide the damping. When using high-order gains, increasing the highest order may allow you to increase lower order gains. However, you need to first set the lower gains to some value before you can set the higher ones. Then, you can go back and increase the lower order gains.
Suggested Tuning Order:
Proportional Gain
Differential Gain
Double Differential Gain or Active Damping Proportional Gain
Triple Differential Gain or Active Damping Differential Gain
Double Differential Gain or Active Damping Proportional Gain
Differential Gain
Proportional Gain
Feed Forwards
Integral Gain
May need to repeat several times.
See Also
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