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Submitted by Galil_LisaW on Mon, 02/14/2000 - 13:29

How do I select the PID parameters to give me the best response?

Comments 1

JoeV on 02/14/2000 - 13:34

Galil recommends using the WSDK servo tuning software for help in selecting the PID parameters. KI is the integrator term and affects accuracy but hurts stability. KP affects stiffness and speed of response. KD is the damping term and improves stability. Increasing KD will increase the amount of damping. As a rule of thumb, set KI to a small value, set KD to be about 10x KP, ie.
KI 3, KP 20, KD 200.

[This message has been edited by JohnF (edited 02-14-2000).]