Peter C. Wallace wrote: > It looks like the integral term has some funny problems in the pid comp. > > The symptom is that when the integral term causes the output to saturate, and > there is no integral limit or the integral limit is > MaxOutput/Igain it > never recovers, and ends up driving in one direction regardless of the error, > This seems to be broken in the part of the code that prevents integral wind-up > this code prevents integral wind-up but also prevents recovery if the output > saturates (because its stops calculating the integral term in when > in saturation an therefor the integral term that cause the saturation is > "latched") > > Good detective work! I have never liked the way EMC's I term worked, form the very beginning. The original one had no "horizon" so error from hours ago could still influence the output. The new one was supposed to work, but I think your discovery exactly matches what I have seen.
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