how does the divider work in PID tuning?
I am using NUCLEO-F303RE, X-NUCLEO-IHM08M1, MotorControl Workbench 5.4.4 and STM32CubeMX 5.5.0. I have managed to generate a project as position control and it seems to work fine however I am wondering if I can improve further the performance of the motor by fine tuning the PID controller (for now I just tried some random values). Each parameter of the PID has a divider associated with it and I would like to know how this affects the performance. Once the code is generated the dividers are the followings:
#define SP_KPDIV 16384
#define SP_KIDIV 16384
#define SP_KDDIV 16
#define SP_KPDIV_LOG LOG2(16384)
#define SP_KIDIV_LOG LOG2(16384)
#define SP_KDDIV_LOG LOG2(16)
it is obvious that the LOG has the same value, but what if I change this how will it affect the performance. what values are best to be used?
Thanks in advance for your help.
