Quote:
Originally Posted by Ether
I've never heard of such a thing. It would seem to defeat the whole purpose of the integral controller.
|
I suspect what they are hoping to communicate would be to eliminate noise induced run away. If you get noise that interferes with your return function then over a duration then...for example...you might end up 'winding up' the I in such a way that even though you've limited it...it's still way too high and because of it getting to high over and over from disturbance and noise it may never come down and the result might be perceived as erratic movement.
If you can 'reset' the I (not necessarily make the I constant 0), and do it when the I is perceived to have 'wound up' too often, then you can effectively prevent yourself from having to reset the entire PID loop to eliminate what appears to be erratic function.
As an example...
http://community.mybb.com/thread-78886.html