Jaguar Speed Control Only Reaches 50% of Setpoint

[techhelpbb]

Originally Posted by Mr. Lim

I'm curious if anyone know exactly how the Jaguars deal with Integral wind-up. Whether it reduces the I-term to 0 once the setpoint is hit, or does it cap the accumulated I value to some kind of ceiling?

I'm a mentor for wmarshall's team and I have a request into TI for actual documentation on the transfer function, LaPlace or block diagram for the FIRST firmware Jaguar PID functions.

It's more curious to me that the P loop doesn't always reach the point of instability eventually for any given value of P.
In theory, a small P should move more slowly toward the set point but still get there eventually.
This does not seem to be the case and that leads me to believe this is not a parallel PID algorithm.

If I get anywhere I'll let you all know.

Not only do we not know how they handle integral wind up (if they handle it at all), we don't know if they have a deadzone or a D filter.

Also I'm not a fan of tuning using the Ziegler Nichols method the way I suspect we're going to get told to use it.
I'd not like to end up with marginal tuning.