The cool muscle motor uses an H-Infinity control scheme, which is fundamentally different than any PID control system many are familiar with. The cool muscle will not only react to changes in position; but speed, position, and torque/motor current variables are all measured and controlled for.

The H parameters are the way we tune the motor. There are eight different parameters from H0 to H7. These values are programmed and read in the exact same manner as you would any of the other registers in the cool muscle motor, such as the K, S, P, and A registers.

Due to the robust nature of the H-Infinity control, you will most likely not need to tune the motor at all. The cool muscle is excellent at dealing with many different loads with no tuning. One common situation where you may need to adjust tuning parameters is in the case of a large inertia mismatch.

In order to overcome a large inertia mismatch, the following parameters can be changed:

H4

H4 should be increased in increments of 50. This will increase the motors reactivity and help compensate for a large inertia mismatch.

H6

H6 should be increased in increments of 2. Increasing H6 will improve the settling time of the position controller, but may introduce some overshoot in the system.

H0

H0 can be decreased in increments of 1 or 2 if the motor starts to hum but the load is still running erratically in large inertia systems, but do not go below 45.

H3

When H4 and H6 are tuned to overcome the inertia mismatch, you may notice a lack of precision introduced to the system. In order to overcome this, H3 should be increased slowly. This will increase the response of the position controller.