Delta RMC101 - Manual (Page 241)

Position/Pressure Control 4.12
Controller Features 4-55
• The next step is to adjust the Differential Gain. Gradually increasing it to 250 results in this:
o
It removed the oscillations.
• Now that the Differential Gain has been added, the Proportional Gain can be further increased.
After trying several values, 8 seems the best for tightest control and least oscillation:
o
Notice that the pressure reaches the command pressure faster.
o
Note that there is a small amount of overshoot, but that is because the pressure is ramping
so quickly. In normal operation the pressure would have to ramp slower for no overshoot.
This example is continued in the next topic.