Control rig — David Uchenna Agodi

Controlspike 001 · pid loop driving the interface

ζ0.674ωₙ10.5margin5.86×stablefpsp95

Move the pointer to command the loop

Scope · vertical axis · 4scommandedmeasured

Controller

Kp200

proportional — Acts on present error. Raises speed and overshoot together.

Ki700

integral — Acts on accumulated error. The only term that can cancel the load.

Kd20.0

derivative — Acts on rate of change. The only term that damps. Take it to zero.

Load6000

disturbance — Constant downward force. Without it, integral action would have no job.

Mass1.0

inertia — Resists acceleration. Heavier lowers ωₙ and slows the whole loop down.

Each preset isolates one behaviour of the loop.

∫ term

actuator

Watch ∫ term climb until it equals the load. That is integral action doing the one thing only it can do.

TheoryMeasuredOvershoot5.7 %—Settling566 ms—Rise——SS error0.0 px—

Run a step test to measure the real response of the object above.