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MPaulHolmes · 10-04-2012, 12:09 AM

It's a challenge to tune the PI loop. It can lead to very severe and wild behavior. To get snappier throttle, it's probably better to adjust t-pwm-gain and t-pos-gain. But if you must, I would start ki at 0, and gradually increase kp until "overshoot is observed", and then back off a bit on kp, and then gradually increase ki until the convergence is nice and fast, but no overshoot.

Check out post 239!
http://forums.24hoursoflemons.com/vi...p?id=8920&p=10

10-04-2012, 12:09 AM	#5876 (permalink)
MPaulHolmes PaulH Join Date: Feb 2008 Location: Maricopa, AZ (sort of. Actually outside of town) Posts: 3,832 Michael's Electric Beetle - '71 Volkswagen Superbeetle 500000 Thanks: 1,368 Thanked 1,202 Times in 765 Posts	It's a challenge to tune the PI loop. It can lead to very severe and wild behavior. To get snappier throttle, it's probably better to adjust t-pwm-gain and t-pos-gain. But if you must, I would start ki at 0, and gradually increase kp until "overshoot is observed", and then back off a bit on kp, and then gradually increase ki until the convergence is nice and fast, but no overshoot. Check out post 239! http://forums.24hoursoflemons.com/vi...p?id=8920&p=10 __________________ kits and boards Last edited by MPaulHolmes; 10-04-2012 at 12:17 AM..