Position Loop High Response Speed Problem

[quentin]

Hi @azure ,

Don’t forget that you response speed depends on:

1. The IMU sample rate
2. The AHRS algorithm loop rate
3. The AHRS algorithm settings (more stability = less responsiveness)
4. The encoder precision and speed
5. The motor loop speed
6. The PID tuning

Also, there’s a related topic here:

Gyro Stabilize Motion Reaction Problem

Hello, I am trying to design gimbal. I have a good encoder and also good perforamnce IMU. I can get directly AHRS data from my IMU with 100hz. I use SimpleFOC library to drive my motors. Actually, velocity loop and position loop working normally in a good way. I have designed my own tuner. For example I can give the input with different frequencies and angles or velocity inputs. (for example, 5hz 0.1 rad/s or 10 hz 10 deg) etc. Here some results. It’s the 5 degree input to position loop at …