Question
Position Control PID Inner Loop Tuning
I am reading through AN5464 and UM1052 looking through the PID tuning sections.
https://www.st.com/resource/en/application_note/an5464-position-control-of-a-threephase-permanent-magnet-motor-using-xcubemcsdk-or-xcubemcsdkful-stmicroelectronics.pdf
https://www.st.com/resource/en/user_manual/um1052-stm32f-pmsm-singledual-foc-sdk-v43-stmicroelectronics.pdf
Typically one would tune the inner loop PI for Torque and Flux then go onto tune the outer loop position PID. The calculated position control PID parameters for the project by default are completely unstable. I am looking for any documentation around the recommended method of tuning the inner loops as in both the Flux and Torque PI parameters. Is there anything along these lines available?
