How to configure feed_backward in PID
Posted: Fri Oct 30, 2020 6:26 am
In the iROS HEBI tutorial of motion control, it is mentioned that when using strategy 4, we can disable effort feedback in effort PID, as shown in the graph attached.
But how do we disable it? There is no configuration for feed_backward in gain configuration, either in xml format or in Scope tool.
Thanks a lot
BTW, the tutorial in iROS is very helpful.
<group_gains>
<control_strategy>4</control_strategy>
<effort>
<kp>0.25</kp>
<ki>0</ki>
<kd>0.001</kd>
<feed_forward>1</feed_forward>
<dead_zone>0</dead_zone>
<i_clamp>0.25</i_clamp>
<punch>-0</punch>
<min_target>-10</min_target>
<max_target>10</max_target>
<target_lowpass>1</target_lowpass>
<min_output>-1</min_output>
<max_output>1</max_output>
<output_lowpass>0.9</output_lowpass>
<d_on_error>0</d_on_error>
</effort>
</group_gains>
But how do we disable it? There is no configuration for feed_backward in gain configuration, either in xml format or in Scope tool.
Thanks a lot
BTW, the tutorial in iROS is very helpful.
<group_gains>
<control_strategy>4</control_strategy>
<effort>
<kp>0.25</kp>
<ki>0</ki>
<kd>0.001</kd>
<feed_forward>1</feed_forward>
<dead_zone>0</dead_zone>
<i_clamp>0.25</i_clamp>
<punch>-0</punch>
<min_target>-10</min_target>
<max_target>10</max_target>
<target_lowpass>1</target_lowpass>
<min_output>-1</min_output>
<max_output>1</max_output>
<output_lowpass>0.9</output_lowpass>
<d_on_error>0</d_on_error>
</effort>
</group_gains>