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Smooth and Stiff Operation: Achieved with Kp = 80 and Kd = 0.5 under no-load conditions.
Enhanced Load Handling: By implementing Kd scaling and feedforward torque, the system effectively manages torque spikes up to 4 Nm without sacrificing stability. This happens by increasing Kd to 7 and using feedforward value of 0.5Nm if needed.
Thermal Efficiency: With appropriate cooling measures, the actuator can sustain prolonged high-torque operations without overheating. However, during normal testing, we should increase temperature derate value and use a fan directed at the motor.
Additionally, empirical evidence supports the theory that voltage does not significantly impact torque. The motor maintains consistent torque levels even at very low speeds, further validating the robustness of the control strategy.
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