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How to switch the control mode (position mode, velocity mode and torque mode) when the PID loop is running.

chen yuan
Prodigy 85 points

How to  smooth the motion trajectory when change the control mode.

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    TI__Expert 5180 points
    The question is very generic, but for example if changing the mode from speed mode to torque mode, the initial reference you need to use when transitioning into torque mode needs to be the final value used in speed mode, then change the reference as needed.
    The same applies when transitioning from position control to speed control. The initial speed reference used needs to be the final referenced used by the position loop, and then change it as needed.
    -Jorge