Alternate eMotor Speed Calcuation Scheme


With this new velocity readout and computation scheme, we compare again the open-loop and closed-loop response in Figure 1 and 2. The PID algorithm remains the same, only now we use a new set of PID gains: Kp = 50, Ki = 3, and Kd = 0.5. In this experiment, I press the torque disturbance button somewhere around 1/3 of the total time, and release the button around 2/3, as indicated in the figures. Compared to Figure 3 and 4 in the eMotor Phones Home article, we see that the overall angular velocity data is more consistent. The sharp peaks in the closed-loop responses are the results of PID gains. Try reducing the Ki value to see the peaks lessen, though the response recovers to commanded value slower.

eMotor open-loop response

Figure 1: Open-loop response with disturbance

eMotor close-loop response

Figure 2: Closed-loop response with disturbance



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