LM629 PID调节

请问按照AN-693 LM628 Programming Guide提供的PID 手动调节方法里 Coefficient k d is systematically increased
until the shaft begins high frequency oscillations. Coefficient d s is then increased by one. The entire
process is repeated until d s reaches a value appropriate for the system.这句是说增大Kd直到电机轴自己开始sheft还是说我用手拧一下轴才开始shaft，还有调ds时 a value appropriate for the system是到出现什么状态才能确定

Moving to the right forum

Thank you！