Velocity PID Tuning

Tuning the parameters of velocity controller is pretty straight forward. In this section, the basic steps of tuning the velocity controller are explained.

PID Parameter Range

The constants kP, kI, and kD should be between 0 and 10 with the precision of 6-digit floating point.

Measuring units of gains are: kP [mNm/rpm],

kI [mNm/(rpm*s]

kD [mNm*s/rpm]

To find the proper values of PID constants of velocity controller the following steps are recommended: