Thread: PID Control
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Unread 08-04-2007, 17:51
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Re: PID Control
More suggestions for reducing integral wind-up (or my $.02):
  • Only add to it when the motor can actually driver (ie, !disabled_mode)
  • At the end of the loop (before you save the I value), multiply it be a fraction, eg:
    Code:
    static_I = (long)I * 8L / 10
    This means that big values last longer than little ones, but it also decreases the possibility of big values building up. Tweak the 0.8 value.