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