Increase in vel_gain issue

Support ODrive Pro Support
1

Hi, I’m seeing an issue with ODrive position control; when I set vel_gain (kd) to 0.95 the motor is stable and quiet. But after increasing it slightly to 1.0, the motor starts buzzing. I’m not sure why is this happening. I would really appreciate any guidance on what might cause this and how to avoid it.

Thank you so much!

2

vel_gain isn’t a Kd – it’s a proportional velocity gain. So it makes sense that increasing it could make the gains unstable. It may be worth even lowering it a bit, so that any changes in your system’s physical parameters don’t inadvertently cause the gains to become unstable.