PID Error Calculation

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01 Jun 2022 08:12 #244351 by cprhodin
Recently I've been tuning my system by first setting the PID coefficients to 0 and setting the FF* block to make the following error (as seen in halscope) as small as possible.  After that I tune the PID to compensate for the vagaries of the system.  When I tune this way I think there should be a one stage delay between the command input and the command/feedback adder.  The idea being that if the FF* tuning was perfect there would be no following error resulting in a zero out of the PID.  Without the delay the PID would always see an error due to acceleration.

Has anyone considered adding this delay stage?
 

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02 Jun 2022 00:45 - 02 Jun 2022 00:45 #244419 by PCW
Replied by PCW on topic PID Error Calculation
I believe that is done by setting the error-previous-target parameter true
Last edit: 02 Jun 2022 00:45 by PCW.

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23 Jun 2022 01:00 #245634 by cprhodin
Replied by cprhodin on topic PID Error Calculation
OK, I see that in the code. I was looking at the diagrams.

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08 Jul 2022 15:11 #246867 by Todd Zuercher
Replied by Todd Zuercher on topic PID Error Calculation
It also helps to look at the PID-error instead of or in addition to the joint or axis f-error when tuning.

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