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.
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The crux of this issue is that the PID implementation seems to be more suited to position control, rather than speed control.
Killing the I term when the setpoint has been reached is commonly employed in position control - particularly in systems where there is a lot of resistance as you slowly reach your desired position. When you are finally reach the setpoint, your P is already 0, and it's in your best interests to 0 the I term to prevent overshoot. The I has already done its job to get to the setpoint, to overcome any resistance encountered on the way there.
Regardless, I can't 100% confirm what the I term behaviour is until later this afternoon, but I'm hoping the I-term is capped, rather than 0'ed.
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