Key Terms with Tuning

Error

• The difference between 2 lines (i.e. Position & Reference or Velocity & ReferenceSlope)

Gain

• Tuned values such as kP, kS, or kV

kP

• The larger the difference between the current and target positions, the more power it puts to the motor to reduce the error
• Typically will cause some oscillation

kI

• If there is a consistent error between 2 lines, this gain will gradually reduce the difference between them

kD

• Resists change in movement of the motor
• This gain helps to dampen the effects of kP, reducing egregious amounts of oscillation

kS

• The 'S' stands for Static Friction
• The amount of extra force needed when the motor starts up to combat the Static Friction

kV

kA

• This gain increases the acceleration of the motor
• This makes something line the Position line steeper the more it's increased

kG

• This is the amount of extra force the motor needs to combat the force of gravity
• This is especially important in an elevator to make sure it keeps its vertical position