PID settings affect how the controller responds, not how much power the battery can safely supply. Start from a verified stable setup and correct signal or hardware problems before treating response settings as the cause.
PID PARAS
| Parameter | Value | System Role | Under Load Behavior | Interaction | Real-World Behavior | Failure Mode |
|---|---|---|---|---|---|---|
| AN | 0 | Control mode flag | Defines control behavior | Internal logic | Neutral | Misconfiguration |
| LM | 22en-US | Language/region | UI/firmware setting | Display system | Neutral | None |
| StartKl | 4 | Start integral gain | Controls low-speed stability | StartKP / Phase current | Smooth vs weak launch | Stall / jerk |
| StartKP | 0 | Start proportional gain | Initial torque response | StartKl | Soft initial engagement | Sluggish start |
| MidK1 | 8 | Mid-range gain | Controls mid-speed response | MidKP | Balanced acceleration | Oscillation |
| MidKP | 80 | Mid proportional gain | Defines mid-range torque control | MidK1 | Strong mid pull | Instability |
| MaxKl | 12 | High-speed integral gain | Controls stability at high load | MaxKP | Sustained output | Drift / instability |
| MaxKP | 120 | High proportional gain | High-speed torque control | MaxKl | Strong response | Oscillation |
| SpeedKl | 9 | Speed loop integral | Controls speed stability | SpeedKP | Smooth speed holding | Hunting |
| SpeedKP | 10 | Speed loop proportional | Speed response sensitivity | SpeedKl | Stable speed | Oscillation |
| MOE | 0-Enable | Motor output enable | Enables controller output | All systems | Normal operation | No output |
| CurveTime | 100ms | Response smoothing | Time-based ramp control | Throttle / PID | Smooth transitions | Lag or jerk |
Core behavior:
- PID parameters define how the controller responds to error between target and actual motor behavior
- They control stability, smoothness, and responsiveness across different operating regions
- The system uses multiple PID layers:
- Start (low speed)
- Mid (normal operation)
- Max (high load/high speed)
- Speed loop (RPM control)
Core principle:
Error -> PID Correction -> Adjust Current
Interaction layer:
- PID directly controls how MaxPhaseCurr is applied over time
- Interacts with:
- Throttle system (input demand)
- Ratio In Speed (available torque)
- Motor definition (stability baseline)
- Poor PID tuning amplifies instability from aggressive current or weakening settings
Real-world behavior:
Low gains -> smooth but sluggish response
Balanced gains -> stable, responsive acceleration
High gains -> aggressive response but risk of oscillation
Riders experience:
- Proper tuning -> smooth, controlled power delivery
- Poor tuning -> jerky throttle, surging, or unstable speed holding
Limits and failure modes:
- Too high KP -> oscillation, vibration, unstable throttle
- Too high KI -> slow drift or overshoot
- Too low values -> weak response, delayed acceleration
- Mismatched PID zones -> inconsistent feel across speed ranges
Tuning Guidance (ONYX-Specific)
- Leave PID close to known stable values unless necessary - this is not a primary tuning layer
- Adjust only after current, throttle, and ratio systems are correctly configured
- Focus on:
- StartKl / StartKP -> launch feel
- MidKP -> main riding response
- MaxKP -> high-speed stability
- Avoid increasing gains to compensate for weak torque - fix current settings instead
- If experiencing oscillation, reduce KP values before changing other systems