Overview of PIV Tuning

The PIV algorithm is another way of tuning a motion system. It basically consists of an inner velocity loop and an outer position loop. Before we can tune the position loop, we must first tune the velocity loop.

The diagrams below outlines the main steps of PIV tuning. There are basically two steps:

Tuning the Velocity Loop

     Smoothing the Actual Velocity (Kpv)

     Applying the Velocity Loop Integral (Kiv)

     Applying the Position Loop Gain (Kpp)

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