Hi there.
I have a question about the tuning of a PID (PI)controller in hydraulic drive trains with high inertia. I have a system with a100kW hydraulic motor with an installed on its shaft encoder. That is how I amgetting feedback from it. Not surprisingly I have a controller for acquisitionand control of the hydraulic system (there are a few valves in the circuit).The last time when I was trying to tune the PID in the system (in thecontroller’s software), but I failed miserably. I did everything according tothe standard tuning procedure(https://robotics.stackexchange.com/q...-pid-loopslike here for instance) increase the proportional gain to reach steadyoscillations and so on. At the end of the day the controller works, but tooslow. And since it is a big hydraulic system that spins quite fast, I’vedecided not to go too crazy with the parameters and stopped there.
I read that it is quite challenging to tune PID controllersin hydraulic systems. The funniest thing is that I have a mathematical model ofthe system in Matlab/Simulink. So, in theory, I can easily derive the PIDparameters. I did it once, and it did not work out either. So could you pleaseadvise any best practice for PID (PI) tuning when it comes to fairly bighydraulic drive trains? Thank you in advance.